-// navaids.cxx -- navaids management class
+// navlist.cxx -- navaids management class
//
// Written by Curtis Olson, started April 2000.
//
-// Copyright (C) 2000 Curtis L. Olson - curt@flightgear.org
+// Copyright (C) 2000 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
#include <simgear/debug/logstream.hxx>
-#include <simgear/misc/fgstream.hxx>
-#include <simgear/math/fg_geodesy.hxx>
+#include <simgear/misc/sgstream.hxx>
+#include <simgear/math/sg_geodesy.hxx>
#include "navlist.hxx"
-FGNavList *current_navlist;
+// Return true if the nav record matches the type
+static bool isTypeMatch(const FGNavRecord* n, fg_nav_types type) {
+ switch(type) {
+ case FG_NAV_ANY: return(true);
+ case FG_NAV_VOR: return(n->get_type() == 3);
+ case FG_NAV_NDB: return(n->get_type() == 2);
+ case FG_NAV_ILS: return(n->get_type() == 4); // Note - very simplified, only matches loc as part of full ILS.
+ default: return false;
+ }
+}
// Constructor
FGNavList::FGNavList( void ) {
}
+FGTACANList::FGTACANList( void ){
+}
+
// Destructor
FGNavList::~FGNavList( void ) {
}
+FGTACANList::~FGTACANList( void ){
+}
// load the navaids and build the map
-bool FGNavList::init( FGPath path ) {
- FGNav n;
+bool FGNavList::init() {
+ // FIXME: leaves all the individual navaid entries leaked
navaids.erase( navaids.begin(), navaids.end() );
+ navaids_by_tile.erase( navaids_by_tile.begin(), navaids_by_tile.end() );
+ ident_navaids.erase( ident_navaids.begin(), ident_navaids.end() );
- fg_gzifstream in( path.str() );
- if ( !in.is_open() ) {
- FG_LOG( FG_GENERAL, FG_ALERT, "Cannot open file: " << path.str() );
- exit(-1);
- }
+ return true;
+}
+
+bool FGTACANList::init() {
+
+ return true;
+}
+
+// real add a marker beacon
+static void real_add( nav_map_type &navmap, const int master_index,
+ FGNavRecord *n )
+{
+ navmap[master_index].push_back( n );
+}
- // read in each line of the file
- in >> skipeol;
- in >> skipcomment;
+// front end for add a marker beacon
+static void tile_add( nav_map_type &navmap, FGNavRecord *n ) {
+ double diff;
-#ifdef __MWERKS__
+ double lon = n->get_lon();
+ double lat = n->get_lat();
- char c = 0;
- while ( in.get(c) && c != '\0' && n.get_type() != '[' ) {
- in.putback(c);
- in >> n;
- if ( n.get_type() != '[' ) {
- navaids[n.get_freq()].push_back(n);
- }
- in >> skipcomment;
+ int lonidx = (int)lon;
+ diff = lon - (double)lonidx;
+ if ( (lon < 0.0) && (fabs(diff) > SG_EPSILON) ) {
+ lonidx -= 1;
}
+ double lonfrac = lon - (double)lonidx;
+ lonidx += 180;
-#else
-
- double min = 100000;
- double max = 0;
-
- while ( ! in.eof() && n.get_type() != '[' ) {
- in >> n;
- /* cout << "id = " << n.get_ident() << endl;
- cout << " type = " << n.get_type() << endl;
- cout << " lon = " << n.get_lon() << endl;
- cout << " lat = " << n.get_lat() << endl;
- cout << " elev = " << n.get_elev() << endl;
- cout << " freq = " << n.get_freq() << endl;
- cout << " range = " << n.get_range() << endl; */
- if ( n.get_type() != '[' ) {
- navaids[n.get_freq()].push_back(n);
- }
- in >> skipcomment;
+ int latidx = (int)lat;
+ diff = lat - (double)latidx;
+ if ( (lat < 0.0) && (fabs(diff) > SG_EPSILON) ) {
+ latidx -= 1;
+ }
+ double latfrac = lat - (double)latidx;
+ latidx += 90;
- if ( n.get_type() != 'N' ) {
- if ( n.get_freq() < min ) {
- min = n.get_freq();
- }
- if ( n.get_freq() > max ) {
- max = n.get_freq();
- }
+ int master_index = lonidx * 1000 + latidx;
+ // cout << "lonidx = " << lonidx << " latidx = " << latidx << " ";
+ // cout << "Master index = " << master_index << endl;
+
+ // add to the actual bucket
+ real_add( navmap, master_index, n );
+
+ // if we are close to the edge, add to adjacent buckets so we only
+ // have to search one bucket at run time
+
+ // there are 8 cases since there are 8 adjacent tiles
+
+ if ( lonfrac < 0.2 ) {
+ real_add( navmap, master_index - 1000, n );
+ if ( latfrac < 0.2 ) {
+ real_add( navmap, master_index - 1000 - 1, n );
+ } else if ( latfrac > 0.8 ) {
+ real_add( navmap, master_index - 1000 + 1, n );
+ }
+ } else if ( lonfrac > 0.8 ) {
+ real_add( navmap, master_index + 1000, n );
+ if ( latfrac < 0.2 ) {
+ real_add( navmap, master_index + 1000 - 1, n );
+ } else if ( latfrac > 0.8 ) {
+ real_add( navmap, master_index + 1000 + 1, n );
}
+ } else if ( latfrac < 0.2 ) {
+ real_add( navmap, master_index - 1, n );
+ } else if ( latfrac > 0.8 ) {
+ real_add( navmap, master_index + 1, n );
}
+}
- // cout << "min freq = " << min << endl;
- // cout << "max freq = " << max << endl;
-#endif
+// add an entry to the lists
+bool FGNavList::add( FGNavRecord *n ) {
+ navaids[n->get_freq()].push_back(n);
+ ident_navaids[n->get_ident()].push_back(n);
+ tile_add( navaids_by_tile, n );
return true;
}
+// add an entry to the lists
+bool FGTACANList::add( FGTACANRecord *c ) {
+ ident_channels[c->get_channel()].push_back(c);
+ return true;
+}
-// query the database for the specified frequency, lon and lat are in
-// degrees, elev is in meters
-bool FGNavList::query( double lon, double lat, double elev, double freq,
- FGNav *n )
+FGNavRecord *FGNavList::findByFreq( double freq, double lon, double lat, double elev )
{
nav_list_type stations = navaids[(int)(freq*100.0 + 0.5)];
+ Point3D aircraft = sgGeodToCart( Point3D(lon, lat, elev) );
+ SG_LOG( SG_INSTR, SG_DEBUG, "findbyFreq " << freq << " size " << stations.size() );
+
+ return findNavFromList( aircraft, stations );
+}
+
+
+FGNavRecord *FGNavList::findByIdent( const char* ident,
+ const double lon, const double lat )
+{
+ nav_list_type stations = ident_navaids[ident];
+ Point3D aircraft = sgGeodToCart( Point3D(lon, lat, 0.0) );
+
+ return findNavFromList( aircraft, stations );
+}
- nav_list_iterator current = stations.begin();
- nav_list_iterator last = stations.end();
- // double az1, az2, s;
- Point3D aircraft = fgGeodToCart( Point3D(lon, lat, elev) );
+nav_list_type FGNavList::findFirstByIdent( string ident, fg_nav_types type, bool exact)
+{
+ nav_list_type n2;
+ n2.clear();
+
+ int iType;
+ if(type == FG_NAV_VOR) iType = 3;
+ else if(type == FG_NAV_NDB) iType = 2;
+ else return(n2);
+
+ nav_ident_map_iterator it;
+ if(exact) {
+ it = ident_navaids.find(ident);
+ } else {
+ bool typeMatch = false;
+ int safety_count = 0;
+ it = ident_navaids.lower_bound(ident);
+ while(!typeMatch) {
+ nav_list_type n0 = it->second;
+ // local copy, so we should be able to do anything with n0.
+ // Remove the types that don't match request.
+ for(nav_list_iterator it0 = n0.begin(); it0 != n0.end();) {
+ FGNavRecord* nv = *it0;
+ if(nv->get_type() == iType) {
+ typeMatch = true;
+ ++it0;
+ } else {
+ it0 = n0.erase(it0);
+ }
+ }
+ if(typeMatch) {
+ return(n0);
+ }
+ if(it == ident_navaids.begin()) {
+ // We didn't find a match before reaching the beginning of the map
+ n0.clear();
+ return(n0);
+ }
+ safety_count++;
+ if(safety_count == 1000000) {
+ SG_LOG(SG_INSTR, SG_ALERT,
+ "safety_count triggered exit from while loop in findFirstByIdent!");
+ break;
+ }
+ ++it;
+ if(it == ident_navaids.end()) {
+ n0.clear();
+ return(n0);
+ }
+ }
+ }
+ if(it == ident_navaids.end()) {
+ n2.clear();
+ return(n2);
+ } else {
+ nav_list_type n1 = it->second;
+ n2.clear();
+ for(nav_list_iterator it2 = n1.begin(); it2 != n1.end(); ++it2) {
+ FGNavRecord* nv = *it2;
+ if(nv->get_type() == iType) n2.push_back(nv);
+ }
+ return(n2);
+ }
+}
+
+
+// Given an Ident and optional freqency, return the first matching
+// station.
+FGNavRecord *FGNavList::findByIdentAndFreq( const char* ident, const double freq )
+{
+ nav_list_type stations = ident_navaids[ident];
+ SG_LOG( SG_INSTR, SG_DEBUG, "findByIdent " << ident<< " size " << stations.size() );
+ if ( freq > 0.0 ) {
+ // sometimes there can be duplicated idents. If a freq is
+ // specified, use it to refine the search.
+ int f = (int)(freq*100.0 + 0.5);
+ for ( unsigned int i = 0; i < stations.size(); ++i ) {
+ if ( f == stations[i]->get_freq() ) {
+ return stations[i];
+ }
+ }
+ } else if (stations.size()) {
+ return stations[0];
+ }
+
+ return NULL;
+}
+
+
+// Given a point and a list of stations, return the closest one to the
+// specified point.
+FGNavRecord *FGNavList::findNavFromList( const Point3D &aircraft,
+ const nav_list_type &stations )
+{
+ FGNavRecord *nav = NULL;
Point3D station;
- double d;
- for ( ; current != last ; ++current ) {
+ double d2; // in meters squared
+ double min_dist
+ = FG_NAV_MAX_RANGE*SG_NM_TO_METER*FG_NAV_MAX_RANGE*SG_NM_TO_METER;
+
+ // find the closest station within a sensible range (FG_NAV_MAX_RANGE)
+ for ( unsigned int i = 0; i < stations.size(); ++i ) {
// cout << "testing " << current->get_ident() << endl;
- station = Point3D(current->get_x(), current->get_y(), current->get_z());
+ station = Point3D( stations[i]->get_x(),
+ stations[i]->get_y(),
+ stations[i]->get_z() );
- d = aircraft.distance3Dsquared( station );
+ d2 = aircraft.distance3Dsquared( station );
// cout << " dist = " << sqrt(d)
- // << " range = " << current->get_range() * NM_TO_METER << endl;
- if ( d < (current->get_range() * NM_TO_METER
- * current->get_range() * NM_TO_METER * 5.0) ) {
- // cout << "matched = " << current->get_ident() << endl;
- *n = *current;
- return true;
+ // << " range = " << current->get_range() * SG_NM_TO_METER
+ // << endl;
+
+ // LOC, ILS, GS, and DME antenna's could potentially be
+ // installed at the opposite end of the runway. So it's not
+ // enough to simply find the closest antenna with the right
+ // frequency. We need the closest antenna with the right
+ // frequency that is most oriented towards us. (We penalize
+ // stations that are facing away from us by adding 5000 meters
+ // which is further than matching stations would ever be
+ // placed from each other. (Do the expensive check only for
+ // directional atennas and only when there is a chance it is
+ // the closest station.)
+ if ( d2 < min_dist &&
+ (stations[i]->get_type() == 4 || stations[i]->get_type() == 5 ||
+ stations[i]->get_type() == 6 || stations[i]->get_type() == 12 ||
+ stations[i]->get_type() == 13) )
+ {
+ double hdg_deg = 0.0;
+ if ( stations[i]->get_type() == 4 || stations[i]->get_type() == 5 ){
+ hdg_deg = stations[i]->get_multiuse();
+ } else if ( stations[i]->get_type() == 6 ) {
+ int tmp = (int)(stations[i]->get_multiuse() / 1000.0);
+ hdg_deg = stations[i]->get_multiuse() - (tmp * 1000);
+ } else if ( stations[i]->get_type() == 12 ||
+ stations[i]->get_type() == 13 ) {
+ // oops, Robin's data format doesn't give us the
+ // needed information to compute a heading for a DME
+ // transmitter. FIXME Robin!
+ }
+
+ double az1 = 0.0, az2 = 0.0, s = 0.0;
+ double elev_m = 0.0, lat_rad = 0.0, lon_rad = 0.0;
+ double xyz[3] = { aircraft.x(), aircraft.y(), aircraft.z() };
+ sgCartToGeod( xyz, &lat_rad, &lon_rad, &elev_m );
+ geo_inverse_wgs_84( elev_m,
+ lat_rad * SG_RADIANS_TO_DEGREES,
+ lon_rad * SG_RADIANS_TO_DEGREES,
+ stations[i]->get_lat(), stations[i]->get_lon(),
+ &az1, &az2, &s);
+ az1 = az1 - stations[i]->get_multiuse();
+ if ( az1 > 180.0) az1 -= 360.0;
+ if ( az1 < -180.0) az1 += 360.0;
+ // penalize opposite facing stations by adding 5000 meters
+ // (squared) which is further than matching stations would
+ // ever be placed from each other.
+ if ( fabs(az1) > 90.0 ) {
+ double dist = sqrt(d2);
+ d2 = (dist + 5000) * (dist + 5000);
+ }
+ }
+
+ if ( d2 < min_dist ) {
+ min_dist = d2;
+ nav = stations[i];
+ }
+ }
+
+ return nav;
+}
+
+
+// returns the closest entry to the give lon/lat/elev
+FGNavRecord *FGNavList::findClosest( double lon_rad, double lat_rad,
+ double elev_m, fg_nav_types type)
+{
+ FGNavRecord *result = NULL;
+ double diff;
+
+ double lon_deg = lon_rad * SG_RADIANS_TO_DEGREES;
+ double lat_deg = lat_rad * SG_RADIANS_TO_DEGREES;
+ int lonidx = (int)lon_deg;
+ diff = lon_deg - (double)lonidx;
+ if ( (lon_deg < 0.0) && (fabs(diff) > SG_EPSILON) ) {
+ lonidx -= 1;
+ }
+ lonidx += 180;
+
+ int latidx = (int)lat_deg;
+ diff = lat_deg - (double)latidx;
+ if ( (lat_deg < 0.0) && (fabs(diff) > SG_EPSILON) ) {
+ latidx -= 1;
+ }
+ latidx += 90;
+
+ int master_index = lonidx * 1000 + latidx;
+
+ nav_list_type navs = navaids_by_tile[ master_index ];
+ // cout << "Master index = " << master_index << endl;
+ // cout << "beacon search length = " << beacons.size() << endl;
+
+ nav_list_const_iterator current = navs.begin();
+ nav_list_const_iterator last = navs.end();
+
+ Point3D aircraft = sgGeodToCart( Point3D(lon_rad,
+ lat_rad,
+ elev_m) );
+
+ double min_dist = 999999999.0;
+
+ for ( ; current != last ; ++current ) {
+ if(isTypeMatch(*current, type)) {
+ // cout << " testing " << (*current)->get_ident() << endl;
+ Point3D station = Point3D( (*current)->get_x(),
+ (*current)->get_y(),
+ (*current)->get_z() );
+ // cout << " aircraft = " << aircraft << " station = " << station
+ // << endl;
+
+ double d = aircraft.distance3Dsquared( station ); // meters^2
+ // cout << " distance = " << d << " ("
+ // << FG_ILS_DEFAULT_RANGE * SG_NM_TO_METER
+ // * FG_ILS_DEFAULT_RANGE * SG_NM_TO_METER
+ // << ")" << endl;
+
+ // cout << " range = " << sqrt(d) << endl;
+
+ if ( d < min_dist ) {
+ min_dist = d;
+ result = (*current);
+ }
}
}
- return false;
+ // cout << "lon = " << lon << " lat = " << lat
+ // << " closest beacon = " << sqrt( min_dist ) << endl;
+
+ return result;
+}
+
+// Given a TACAN Channel return the first matching frequency
+FGTACANRecord *FGTACANList::findByChannel( const string& channel )
+{
+ tacan_list_type stations = ident_channels[channel];
+ SG_LOG( SG_INSTR, SG_DEBUG, "findByChannel " << channel<< " size " << stations.size() );
+
+ if (stations.size()) {
+ return stations[0];
+ }
+ return NULL;
+}
+
+// Given a frequency, return the first matching station.
+FGNavRecord *FGNavList::findStationByFreq( double freq )
+{
+ nav_list_type stations = navaids[(int)(freq*100.0 + 0.5)];
+
+ SG_LOG( SG_INSTR, SG_DEBUG, "findStationByFreq " << freq << " size " << stations.size() );
+
+ if (stations.size()) {
+ return stations[0];
+ }
+ return NULL;
}
projects / flightgear.git / blobdiff