# include <config.h>
#endif
+#include <cassert>
+#include <boost/foreach.hpp>
+#include <algorithm>
+
#include <simgear/debug/logstream.hxx>
-#include <simgear/misc/sgstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/sg_inlines.h>
#include "navlist.hxx"
+#include <Airports/runways.hxx>
+#include <Navaids/NavDataCache.hxx>
+#include <Navaids/navrecord.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 ------------------------------------------------------------------
+namespace { // anonymous
-FGNavList::FGNavList( void )
+class NavRecordDistanceSortPredicate
{
+public:
+ NavRecordDistanceSortPredicate( const SGGeod & position ) :
+ _position(SGVec3d::fromGeod(position)) {}
+
+ bool operator()( const nav_rec_ptr & n1, const nav_rec_ptr & n2 )
+ {
+ if( n1 == NULL || n2 == NULL ) return false;
+ return distSqr(n1->cart(), _position) < distSqr(n2->cart(), _position);
+ }
+private:
+ SGVec3d _position;
+
+};
+
+// discount navids if they conflict with another on the same frequency
+// this only applies to navids associated with opposite ends of a runway,
+// with matching frequencies.
+bool navidUsable(FGNavRecord* aNav, const SGGeod &aircraft)
+{
+ FGRunway* r(aNav->runway());
+ if (!r || !r->reciprocalRunway()) {
+ return true;
+ }
+
+ // check if the runway frequency is paired
+ FGNavRecord* locA = r->ILS();
+ FGNavRecord* locB = r->reciprocalRunway()->ILS();
+
+ if (!locA || !locB || (locA->get_freq() != locB->get_freq())) {
+ return true; // not paired, ok
+ }
+
+ // okay, both ends have an ILS, and they're paired. We need to select based on
+ // aircraft position. What we're going to use is *runway* (not navid) position,
+ // ie whichever runway end we are closer too. This makes back-course / missed
+ // approach behaviour incorrect, but that's the price we accept.
+ double crs = SGGeodesy::courseDeg(aircraft, r->geod());
+ double hdgDiff = crs - r->headingDeg();
+ SG_NORMALIZE_RANGE(hdgDiff, -180.0, 180.0);
+ return (fabs(hdgDiff) < 90.0);
}
+
+} // of anonymous namespace
+
+// FGNavList ------------------------------------------------------------------
-FGNavList::~FGNavList( void )
+//------------------------------------------------------------------------------
+FGNavList::TypeFilter::TypeFilter(const FGPositioned::Type type)
{
+ if (type == FGPositioned::INVALID) {
+ _mintype = FGPositioned::NDB;
+ _maxtype = FGPositioned::GS;
+ } else {
+ _mintype = _maxtype = type;
+ }
}
-
-// load the navaids and build the map
-bool FGNavList::init()
+//------------------------------------------------------------------------------
+FGNavList::TypeFilter::TypeFilter( const FGPositioned::Type minType,
+ const FGPositioned::Type maxType ):
+ _mintype(minType),
+ _maxtype(maxType)
{
- // 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() );
-
- return true;
}
-
-// real add a marker beacon
-static void real_add( nav_map_type &navmap, const int master_index,
- FGNavRecord *n )
+//------------------------------------------------------------------------------
+bool FGNavList::TypeFilter::fromTypeString(const std::string& type)
{
- navmap[master_index].push_back( n );
+ FGPositioned::Type t;
+ if( type == "any" ) t = FGPositioned::INVALID;
+ else if( type == "fix" ) t = FGPositioned::FIX;
+ else if( type == "vor" ) t = FGPositioned::VOR;
+ else if( type == "ndb" ) t = FGPositioned::NDB;
+ else if( type == "ils" ) t = FGPositioned::ILS;
+ else if( type == "dme" ) t = FGPositioned::DME;
+ else if( type == "tacan") t = FGPositioned::TACAN;
+ else return false;
+
+ _mintype = _maxtype = t;
+
+ return true;
}
-
-// front end for add a marker beacon
-static void tile_add( nav_map_type &navmap, FGNavRecord *n )
+/**
+ * Filter returning Tacan stations. Checks for both pure TACAN stations
+ * but also co-located VORTACs. This is done by searching for DMEs whose
+ * name indicates they are a TACAN or VORTAC; not a great solution.
+ */
+class TacanFilter : public FGNavList::TypeFilter
{
- 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 );
+public:
+ TacanFilter() :
+ TypeFilter(FGPositioned::DME, FGPositioned::TACAN)
+ {
+ }
+
+ virtual bool pass(FGPositioned* pos) const
+ {
+ if (pos->type() == FGPositioned::TACAN) {
+ return true;
}
+
+ assert(pos->type() == FGPositioned::DME);
+ string::size_type loc1 = pos->name().find( "TACAN" );
+ string::size_type loc2 = pos->name().find( "VORTAC" );
+ return (loc1 != string::npos) || (loc2 != string::npos);
+ }
+};
+
+FGNavList::TypeFilter* FGNavList::locFilter()
+{
+ static TypeFilter tf(FGPositioned::ILS, FGPositioned::LOC);
+ return &tf;
}
-
-// add an entry to the lists
-bool FGNavList::add( FGNavRecord *n )
+FGNavList::TypeFilter* FGNavList::ndbFilter()
{
- navaids[n->get_freq()].push_back(n);
- ident_navaids[n->get_ident()].push_back(n);
- tile_add( navaids_by_tile, n );
- return true;
+ static TypeFilter tf(FGPositioned::NDB);
+ return &tf;
}
-
-FGNavRecord *FGNavList::findByFreq( double freq, double lon, double lat, double elev )
+FGNavList::TypeFilter* FGNavList::navFilter()
{
- 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 );
+ static TypeFilter tf(FGPositioned::VOR, FGPositioned::LOC);
+ return &tf;
}
-
-FGNavRecord *FGNavList::findByIdent( const char* ident,
- const double lon, const double lat )
+FGNavList::TypeFilter* FGNavList::tacanFilter()
{
- const nav_list_type& stations = ident_navaids[ident];
- SGGeod geod = SGGeod::fromRad(lon, lat);
- SGVec3d aircraft = SGVec3d::fromGeod(geod);
- return findNavFromList( aircraft, stations );
+ static TacanFilter tf;
+ return &tf;
}
+FGNavList::TypeFilter* FGNavList::carrierFilter()
+{
+ static TypeFilter tf(FGPositioned::MOBILE_TACAN);
+ return &tf;
+}
-nav_list_type FGNavList::findFirstByIdent( const string& ident, fg_nav_types type, bool exact)
+FGNavRecordRef FGNavList::findByFreq( double freq,
+ const SGGeod& position,
+ TypeFilter* 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);
- }
- }
+ flightgear::NavDataCache* cache = flightgear::NavDataCache::instance();
+ int freqKhz = static_cast<int>(freq * 100 + 0.5);
+ PositionedIDVec stations(cache->findNavaidsByFreq(freqKhz, position, filter));
+ if (stations.empty()) {
+ return NULL;
+ }
+
+// now walk the (sorted) results list to find a usable, in-range navaid
+ SGVec3d acCart(SGVec3d::fromGeod(position));
+ double min_dist
+ = FG_NAV_MAX_RANGE*SG_NM_TO_METER*FG_NAV_MAX_RANGE*SG_NM_TO_METER;
+
+ BOOST_FOREACH(PositionedID id, stations) {
+ FGNavRecordRef station = FGPositioned::loadById<FGNavRecord>(id);
+ if (!filter->pass(station)) {
+ continue;
+ }
+
+ double d2 = distSqr(station->cart(), acCart);
+ if (d2 > min_dist) {
+ // since results are sorted by proximity, as soon as we pass the
+ // distance cutoff we're done - fall out and return NULL
+ break;
}
- 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);
+
+ if (navidUsable(station, position)) {
+ return station;
}
+ }
+
+// fell out of the loop, no usable match
+ return NULL;
}
-
-// Given an Ident and optional freqency, return the first matching
-// station.
-FGNavRecord *FGNavList::findByIdentAndFreq( const char* ident, const double freq )
+FGNavRecordRef FGNavList::findByFreq(double freq, TypeFilter* filter)
{
- 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];
- }
-
+ flightgear::NavDataCache* cache = flightgear::NavDataCache::instance();
+ int freqKhz = static_cast<int>(freq * 100 + 0.5);
+ PositionedIDVec stations(cache->findNavaidsByFreq(freqKhz, filter));
+ if (stations.empty()) {
return NULL;
-}
-
+ }
-// Given a point and a list of stations, return the closest one to the
-// specified point.
-FGNavRecord *FGNavList::findNavFromList( const SGVec3d &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;
-
- 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) )
- {
- 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);
- }
- }
-
- if ( d2 < min_dist ) {
- min_dist = d2;
- nav = station;
- }
+ BOOST_FOREACH(PositionedID id, stations) {
+ FGNavRecordRef station = FGPositioned::loadById<FGNavRecord>(id);
+ if (filter->pass(station)) {
+ return station;
}
+ }
- return nav;
+ return NULL;
}
-
-// 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)
+nav_list_type FGNavList::findAllByFreq( double freq, const SGGeod& position,
+ TypeFilter* filter)
{
- 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;
+ nav_list_type stations;
+
+ flightgear::NavDataCache* cache = flightgear::NavDataCache::instance();
+ int freqKhz = static_cast<int>(freq * 1000 + 0.5);
+ PositionedIDVec ids(cache->findNavaidsByFreq(freqKhz, position, filter));
+
+ BOOST_FOREACH(PositionedID id, ids) {
+ FGNavRecordRef station = FGPositioned::loadById<FGNavRecord>(id);
+ if (!filter->pass(station)) {
+ continue;
}
- 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;
+ stations.push_back(station);
+ }
+
+ return stations;
+}
- if ( d < min_dist ) {
- min_dist = d;
- result = (*current);
- }
- }
+nav_list_type FGNavList::findByIdentAndFreq(const string& ident, const double freq,
+ TypeFilter* filter)
+{
+ nav_list_type reply;
+ int f = (int)(freq*100.0 + 0.5);
+
+ FGPositionedList stations = FGPositioned::findAllWithIdent(ident, filter);
+ BOOST_FOREACH(FGPositionedRef ref, stations) {
+ FGNavRecord* nav = static_cast<FGNavRecord*>(ref.ptr());
+ if ( f <= 0.0 || nav->get_freq() == f) {
+ reply.push_back( nav );
}
+ }
- // cout << "lon = " << lon << " lat = " << lat
- // << " closest beacon = " << sqrt( min_dist ) << endl;
-
- return result;
+ return reply;
}
-// Given a frequency, return the first matching station.
-FGNavRecord *FGNavList::findStationByFreq( double freq )
+// Given an Ident and optional frequency and type ,
+// return a list of matching stations sorted by distance to the given position
+nav_list_type FGNavList::findByIdentAndFreq( const SGGeod & position,
+ const std::string& ident, const double freq,
+ TypeFilter* filter)
{
- const nav_list_type& stations = navaids[(int)(freq*100.0 + 0.5)];
+ nav_list_type reply = findByIdentAndFreq( ident, freq, filter );
+ NavRecordDistanceSortPredicate sortPredicate( position );
+ std::sort( reply.begin(), reply.end(), sortPredicate );
- SG_LOG( SG_INSTR, SG_DEBUG, "findStationByFreq " << freq << " size " << stations.size() );
-
- if (!stations.empty()) {
- return stations[0];
- }
- return NULL;
+ return reply;
}
-
-
// FGTACANList ----------------------------------------------------------------
FGTACANList::FGTACANList( void )
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() );
+ SG_LOG( SG_NAVAID, SG_DEBUG, "findByChannel " << channel<< " size " << stations.size() );
if (!stations.empty()) {
return stations[0];
projects / flightgear.git / blobdiff