//
// 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.
//
// $Id$
#endif
#include <simgear/debug/logstream.hxx>
-#include <simgear/misc/sgstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/sg_inlines.h>
#include "navlist.hxx"
+using std::string;
-// Constructor
-FGNavList::FGNavList( void ) {
-}
+// FGNavList ------------------------------------------------------------------
-FGTACANList::FGTACANList( void ){
+FGNavList::FGNavList( void )
+{
}
-// Destructor
-FGNavList::~FGNavList( void ) {
+FGNavList::~FGNavList( void )
+{
+ nav_list_type navlist = navaids.begin()->second;
+ navaids.erase( navaids.begin(), navaids.end() );
}
-FGTACANList::~FGTACANList( void ){
-}
// load the navaids and build the map
-bool FGNavList::init() {
-
- // FIXME: leaves all the individual navaid entries leaked
+bool FGNavList::init()
+{
+ // No need to delete the original navaid structures
+ // since we're using an SGSharedPointer
+ nav_list_type navlist = navaids.begin()->second;
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() );
-
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 );
-}
-
-
-// front end for add a marker beacon
-static void tile_add( nav_map_type &navmap, FGNavRecord *n ) {
- double diff;
-
- double lon = n->get_lon();
- double lat = n->get_lat();
-
- 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;
-
- 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;
-
- 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 );
- }
-}
-
-
-
// add an entry to the lists
-bool FGNavList::add( FGNavRecord *n ) {
+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;
-}
-
-FGNavRecord *FGNavList::findByFreq( double freq, double lon, double lat, double elev )
+FGNavRecord *FGNavList::findByFreq( double freq, const SGGeod& position)
{
- nav_list_type stations = navaids[(int)(freq*100.0 + 0.5)];
- Point3D aircraft = sgGeodToCart( Point3D(lon, lat, elev) );
+ const nav_list_type& stations = navaids[(int)(freq*100.0 + 0.5)];
SG_LOG( SG_INSTR, SG_DEBUG, "findbyFreq " << freq << " size " << stations.size() );
-
- return findNavFromList( aircraft, stations );
+ return findNavFromList( position, stations );
}
-
-FGNavRecord *FGNavList::findByIdent( const char* ident,
- const double lon, const double lat )
+class VORNDBFilter : public FGPositioned::Filter
{
- nav_list_type stations = ident_navaids[ident];
- Point3D aircraft = sgGeodToCart( Point3D(lon, lat, 0.0) );
-
- return findNavFromList( aircraft, stations );
-}
-
+public:
+ virtual bool pass(FGPositioned* aPos) const
+ {
+ return (aPos->type() == FGPositioned::VOR) || (aPos->type() == FGPositioned::NDB);
+ }
+};
// Given an Ident and optional freqency, return the first matching
// station.
-FGNavRecord *FGNavList::findByIdentAndFreq( const char* ident, const double freq )
+FGNavRecord *FGNavList::findByIdentAndFreq(const string& 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];
+ FGPositionedRef cur;
+ VORNDBFilter filter;
+ cur = FGPositioned::findNextWithPartialId(cur, ident, &filter);
+
+ if (freq <= 0.0) {
+ return static_cast<FGNavRecord*>(cur.ptr()); // might be null
+ }
+
+ int f = (int)(freq*100.0 + 0.5);
+ while (cur) {
+ FGNavRecord* nav = static_cast<FGNavRecord*>(cur.ptr());
+ if (nav->get_freq() == f) {
+ return nav;
}
+
+ cur = FGPositioned::findNextWithPartialId(cur, ident, &filter);
+ }
- return NULL;
+ return NULL;
}
+// 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.)
+
+static bool penaltyForNav(FGNavRecord* aNav, const SGGeod &aGeod)
+{
+ switch (aNav->type()) {
+ case FGPositioned::ILS:
+ case FGPositioned::LOC:
+ case FGPositioned::GS:
+// FIXME
+// case FGPositioned::DME: we can't get the heading for a DME transmitter, oops
+ break;
+ default:
+ return false;
+ }
+
+ double hdg_deg = 0.0;
+ if (aNav->type() == FGPositioned::GS) {
+ int tmp = (int)(aNav->get_multiuse() / 1000.0);
+ hdg_deg = aNav->get_multiuse() - (tmp * 1000);
+ } else {
+ hdg_deg = aNav->get_multiuse();
+ }
+
+ double az1, az2, s;
+ SGGeodesy::inverse(aGeod, aNav->geod(), az1, az2, s);
+ az1 = az1 - hdg_deg;
+ SG_NORMALIZE_RANGE(az1, -180.0, 180.0);
+ return fabs(az1) > 90.0;
+}
// Given a point and a list of stations, return the closest one to the
// specified point.
-FGNavRecord *FGNavList::findNavFromList( const Point3D &aircraft,
+FGNavRecord *FGNavList::findNavFromList( const SGGeod &aircraft,
const nav_list_type &stations )
{
FGNavRecord *nav = NULL;
- Point3D station;
double d2; // in meters squared
double min_dist
= FG_NAV_MAX_RANGE*SG_NM_TO_METER*FG_NAV_MAX_RANGE*SG_NM_TO_METER;
-
+ SGVec3d aircraftCart = SGVec3d::fromGeod(aircraft);
+
+ nav_list_const_iterator it;
+ nav_list_const_iterator end = stations.end();
// 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( stations[i]->get_x(),
- stations[i]->get_y(),
- stations[i]->get_z() );
-
- d2 = aircraft.distance3Dsquared( station );
-
- // cout << " dist = " << sqrt(d)
- // << " 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) )
+ for ( it = stations.begin(); it != end; ++it ) {
+ FGNavRecord *station = *it;
+ // cout << "testing " << current->get_ident() << endl;
+ d2 = distSqr(station->cart(), aircraftCart);
+ if ( d2 < min_dist && penaltyForNav(station, aircraft))
{
- 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 ) {
- // 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);
- }
+ double dist = sqrt(d2);
+ d2 = (dist + 5000) * (dist + 5000);
}
-
+
if ( d2 < min_dist ) {
min_dist = d2;
- nav = stations[i];
+ nav = station;
}
}
return nav;
}
-
-// returns the closest entry to the give lon/lat/elev
-FGNavRecord *FGNavList::findClosest( double lon_rad, double lat_rad,
- double elev_m )
+// Given a frequency, return the first matching station.
+FGNavRecord *FGNavList::findStationByFreq( double freq )
{
- 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;
+ const nav_list_type& stations = navaids[(int)(freq*100.0 + 0.5)];
- int latidx = (int)lat_deg;
- diff = lat_deg - (double)latidx;
- if ( (lat_deg < 0.0) && (fabs(diff) > SG_EPSILON) ) {
- latidx -= 1;
- }
- latidx += 90;
+ SG_LOG( SG_INSTR, SG_DEBUG, "findStationByFreq " << freq << " size " << stations.size() );
- 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_iterator current = navs.begin();
- nav_list_iterator last = navs.end();
-
- Point3D aircraft = sgGeodToCart( Point3D(lon_rad,
- lat_rad,
- elev_m) );
-
- double min_dist = 999999999.0;
-
- for ( ; current != last ; ++current ) {
- // 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);
- }
+ if (!stations.empty()) {
+ return stations[0];
}
+ return NULL;
+}
+
+
- // cout << "lon = " << lon << " lat = " << lat
- // << " closest beacon = " << sqrt( min_dist ) << endl;
+// FGTACANList ----------------------------------------------------------------
- return result;
+FGTACANList::FGTACANList( void )
+{
}
-// Given a TACAN Channel return the first matching frequency
-FGTACANRecord *FGTACANList::findByChannel( const string& channel )
+
+FGTACANList::~FGTACANList( void )
{
- 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 )
+
+bool FGTACANList::init()
{
- 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 true;
+}
+
+
+// add an entry to the lists
+bool FGTACANList::add( FGTACANRecord *c )
+{
+ ident_channels[c->get_channel()].push_back(c);
+ return true;
+}
+
+
+// Given a TACAN Channel return the first matching frequency
+FGTACANRecord *FGTACANList::findByChannel( const string& channel )
+{
+ const tacan_list_type& stations = ident_channels[channel];
+ SG_LOG( SG_INSTR, SG_DEBUG, "findByChannel " << channel<< " size " << stations.size() );
+
+ if (!stations.empty()) {
return stations[0];
- }
+ }
return NULL;
}
+
+
projects / flightgear.git / blobdiff