//
// 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.
//
// $Id$
# 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>
-// Constructor
-FGNavList::FGNavList( void ) {
-}
+using std::string;
+namespace { // anonymous
-// Destructor
-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 ------------------------------------------------------------------
-// load the navaids and build the map
-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() );
+//------------------------------------------------------------------------------
+FGNavList::TypeFilter::TypeFilter(const FGPositioned::Type type)
+{
+ if (type == FGPositioned::INVALID) {
+ _mintype = FGPositioned::NDB;
+ _maxtype = FGPositioned::GS;
+ } else {
+ _mintype = _maxtype = type;
+ }
+}
- return true;
+//------------------------------------------------------------------------------
+FGNavList::TypeFilter::TypeFilter( const FGPositioned::Type minType,
+ const FGPositioned::Type maxType ):
+ _mintype(minType),
+ _maxtype(maxType)
+{
}
+//------------------------------------------------------------------------------
+bool FGNavList::TypeFilter::fromTypeString(const std::string& type)
+{
+ 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;
+}
-// real add a marker beacon
-static void real_add( nav_map_type &navmap, const int master_index,
- 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
+{
+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()
{
- navmap[master_index].push_back( n );
+ static TypeFilter tf(FGPositioned::ILS, FGPositioned::LOC);
+ return &tf;
}
+FGNavList::TypeFilter* FGNavList::ndbFilter()
+{
+ static TypeFilter tf(FGPositioned::NDB);
+ return &tf;
+}
-// front end for add a marker beacon
-static void tile_add( nav_map_type &navmap, FGNavRecord *n ) {
- double diff;
+FGNavList::TypeFilter* FGNavList::navFilter()
+{
+ static TypeFilter tf(FGPositioned::VOR, FGPositioned::LOC);
+ return &tf;
+}
- double lon = n->get_lon();
- double lat = n->get_lat();
+FGNavList::TypeFilter* FGNavList::tacanFilter()
+{
+ static TacanFilter tf;
+ return &tf;
+}
- 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;
+FGNavList::TypeFilter* FGNavList::carrierFilter()
+{
+ static TypeFilter tf(FGPositioned::MOBILE_TACAN);
+ return &tf;
+}
- int latidx = (int)lat;
- diff = lat - (double)latidx;
- if ( (lat < 0.0) && (fabs(diff) > SG_EPSILON) ) {
- latidx -= 1;
+FGNavRecordRef FGNavList::findByFreq( double freq,
+ const SGGeod& position,
+ TypeFilter* filter )
+{
+ 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 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 );
+
+ 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 (navidUsable(station, position)) {
+ return station;
+ }
+ }
+
+// fell out of the loop, no usable match
+ return NULL;
}
+FGNavRecordRef FGNavList::findByFreq(double freq, TypeFilter* filter)
+{
+ 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;
+ }
+ BOOST_FOREACH(PositionedID id, stations) {
+ FGNavRecordRef station = FGPositioned::loadById<FGNavRecord>(id);
+ if (filter->pass(station)) {
+ return station;
+ }
+ }
-// 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;
+ return NULL;
}
-
-// Query the database for the specified frequency. It is assumed that
-// there will be multiple stations with matching frequencies so a
-// position must be specified. Lon and lat are in degrees, elev is in
-// meters.
-FGNavRecord *FGNavList::findByFreq( double freq, double lon, double lat, double elev )
+nav_list_type FGNavList::findAllByFreq( double freq, const SGGeod& position,
+ TypeFilter* filter)
{
- nav_list_type stations = navaids[(int)(freq*100.0 + 0.5)];
- Point3D aircraft = sgGeodToCart( Point3D(lon, lat, elev) );
+ 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;
+ }
- return findNavFromList( aircraft, stations );
+ stations.push_back(station);
+ }
+
+ return stations;
}
+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 );
+ }
+ }
+
+ return reply;
+}
-FGNavRecord *FGNavList::findByIdent( const char* ident,
- const double lon, const double lat )
+// 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)
{
- nav_list_type stations = ident_navaids[ident];
- Point3D aircraft = sgGeodToCart( Point3D(lon, lat, 0.0) );
+ nav_list_type reply = findByIdentAndFreq( ident, freq, filter );
+ NavRecordDistanceSortPredicate sortPredicate( position );
+ std::sort( reply.begin(), reply.end(), sortPredicate );
- return findNavFromList( aircraft, stations );
+ return reply;
}
+// FGTACANList ----------------------------------------------------------------
-// Given an Ident and optional freqency, return the first matching
-// station.
-FGNavRecord *FGNavList::findByIdentAndFreq( const char* ident, const double freq )
+FGTACANList::FGTACANList( void )
{
- nav_list_type stations = ident_navaids[ident];
-
- 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 {
- 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 )
+FGTACANList::~FGTACANList( void )
{
- 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;
-
- // 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) )
- {
- 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);
- }
- }
-
- if ( d2 < min_dist ) {
- min_dist = d2;
- nav = stations[i];
- }
- }
+}
- return nav;
+
+bool FGTACANList::init()
+{
+ return true;
}
-// returns the closest entry to the give lon/lat/elev
-FGNavRecord *FGNavList::findClosest( double lon_rad, double lat_rad,
- double elev_m )
+// add an entry to the lists
+bool FGTACANList::add( FGTACANRecord *c )
{
- 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;
+ ident_channels[c->get_channel()].push_back(c);
+ return true;
+}
- 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_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);
- }
+// 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_NAVAID, SG_DEBUG, "findByChannel " << channel<< " size " << stations.size() );
+
+ if (!stations.empty()) {
+ return stations[0];
}
+ return NULL;
+}
- // cout << "lon = " << lon << " lat = " << lat
- // << " closest beacon = " << sqrt( min_dist ) << endl;
- return result;
-}
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