#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"
-
-// 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;
- }
-}
-
-
+using std::string;
// FGNavList ------------------------------------------------------------------
FGNavList::~FGNavList( void )
{
- navaids_by_tile.erase( navaids_by_tile.begin(), navaids_by_tile.end() );
nav_list_type navlist = navaids.begin()->second;
navaids.erase( navaids.begin(), navaids.end() );
}
// 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;
}
-
-// 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 = 0;
-
- 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 )
{
navaids[n->get_freq()].push_back(n);
- ident_navaids[n->get_ident()].push_back(n);
- tile_add( navaids_by_tile, n );
return true;
}
-
-FGNavRecord *FGNavList::findByFreq( double freq, double lon, double lat, double elev )
+FGNavRecord *FGNavList::findByFreq( double freq, const SGGeod& position)
{
const nav_list_type& stations = navaids[(int)(freq*100.0 + 0.5)];
-
- SGGeod geod = SGGeod::fromRadM(lon, lat, elev);
- SGVec3d aircraft = SGVec3d::fromGeod(geod);
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 )
-{
- const nav_list_type& stations = ident_navaids[ident];
- SGGeod geod = SGGeod::fromRad(lon, lat);
- SGVec3d aircraft = SGVec3d::fromGeod(geod);
- return findNavFromList( aircraft, stations );
+ return findNavFromList( position, stations );
}
-
-nav_list_type FGNavList::findFirstByIdent( const string& ident, fg_nav_types type, bool exact)
+class VORNDBFilter : public FGPositioned::Filter
{
- 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);
- }
-}
-
+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 )
-{
- 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);
- nav_list_const_iterator it, end = stations.end();
- for ( it = stations.begin(); it != end; ++it ) {
- if ( f == (*it)->get_freq() ) {
- return (*it);
- }
- }
- } else if (!stations.empty()) {
- return stations[0];
+FGNavRecord *FGNavList::findByIdentAndFreq(const string& ident, const double freq )
+{
+ 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;
}
-
- return NULL;
+
+ cur = FGPositioned::findNextWithPartialId(cur, ident, &filter);
+ }
+
+ 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 SGVec3d &aircraft,
+FGNavRecord *FGNavList::findNavFromList( const SGGeod &aircraft,
const nav_list_type &stations )
{
FGNavRecord *nav = NULL;
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 ( it = stations.begin(); it != end; ++it ) {
FGNavRecord *station = *it;
// cout << "testing " << current->get_ident() << endl;
- d2 = distSqr(station->get_cart(), aircraft);
-
- // 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.)
- int type = station->get_type();
- if ( d2 < min_dist &&
- (type == 4 || type == 5 || type == 6 || type == 12 || type == 13) )
+ d2 = distSqr(station->cart(), aircraftCart);
+ if ( d2 < min_dist && penaltyForNav(station, aircraft))
{
- double hdg_deg = 0.0;
- if ( type == 4 || type == 5 ){
- hdg_deg = station->get_multiuse();
-
- } else if ( type == 6 ) {
- int tmp = (int)(station->get_multiuse() / 1000.0);
- hdg_deg = station->get_multiuse() - (tmp * 1000);
-
- } else if ( type == 12 || 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;
- SGGeod geod = SGGeod::fromCart(aircraft);
- geo_inverse_wgs_84( geod, station->get_pos(), &az1, &az2, &s);
- az1 = az1 - station->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 = 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, 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;
-
- const 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();
-
- SGGeod geod = SGGeod::fromRadM(lon_rad, lat_rad, elev_m);
- SGVec3d aircraft = SGVec3d::fromGeod(geod);
-
- double min_dist = 999999999.0;
-
- for ( ; current != last ; ++current ) {
- if(isTypeMatch(*current, type)) {
- // cout << " testing " << (*current)->get_ident() << endl;
-
- double d = distSqr((*current)->get_cart(), aircraft);
- // 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);
- }
- }
- }
-
- // cout << "lon = " << lon << " lat = " << lat
- // << " closest beacon = " << sqrt( min_dist ) << endl;
-
- return result;
-}
-
// Given a frequency, return the first matching station.
FGNavRecord *FGNavList::findStationByFreq( double freq )
{
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