-// 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"
-// Constructor
-FGNavaids::FGNavaids( void ) {
+// Return true if the nav record matches the type
+static bool isTypeMatch(const FGNavRecord* n, fg_nav_types type)
+{
+ if (type == FG_NAV_ANY) return true;
+ return type == n->type();
}
-// Destructor
-FGNavaids::~FGNavaids( void ) {
+
+// FGNavList ------------------------------------------------------------------
+
+FGNavList::FGNavList( void )
+{
}
-// load the navaids and build the map
-bool FGNavaids::init( FGPath path ) {
- FGNavaid n;
+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() );
+}
+
+// load the navaids and build the map
+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() );
- fg_gzifstream in( path.str() );
- if ( !in.is_open() ) {
- FG_LOG( FG_GENERAL, FG_ALERT, "Cannot open file: " << path.str() );
- exit(-1);
- }
+ return true;
+}
- // read in each line of the file
- in >> skipeol;
- in >> skipcomment;
+// 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;
-#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
-
- 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;
-#endif
+ 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 )
+{
+ 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 );
+}
-// query the database for the specified frequency, lon and lat are in
-// degrees, elev is in meters
-bool FGNavaids::query( double lon, double lat, double elev, double freq,
- FGNavaid *n, double *heading, double *dist )
+
+FGNavRecord *FGNavList::findByIdent( const char* ident,
+ const double lon, const double lat )
{
- nav_list_type stations = navaids[(int)(freq*100.0)];
+ const nav_list_type& stations = ident_navaids[ident];
+ SGGeod geod = SGGeod::fromRad(lon, lat);
+ SGVec3d aircraft = SGVec3d::fromGeod(geod);
+ return findNavFromList( aircraft, stations );
+}
- nav_list_iterator current = stations.begin();
- nav_list_iterator last = stations.end();
- double az1, az2, s;
- for ( ; current != last ; ++current ) {
- // cout << "testing " << current->get_ident() << endl;
- geo_inverse_wgs_84( elev, lat, lon,
- current->get_lat(), current->get_lon(),
- &az1, &az2, &s );
- // cout << " dist = " << s << endl;
- if ( s < ( current->get_range() * NM_TO_METER ) ) {
- *n = *current;
- *heading = az2;
- *dist = s;
- return true;
- }
+
+
+// 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];
}
+ 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 SGVec3d &aPos)
+{
+ 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 = 0.0, az2 = 0.0, s = 0.0;
+ SGGeod geod = SGGeod::fromCart(aPos);
+ geo_inverse_wgs_84( geod, aNav->geod(), &az1, &az2, &s);
+ az1 = az1 - hdg_deg;
+
+ if ( az1 > 180.0) az1 -= 360.0;
+ if ( az1 < -180.0) az1 += 360.0;
+
+ 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,
+ 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);
+ if ( d2 < min_dist && penaltyForNav(station, aircraft))
+ {
+ 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 )
+{
+ const nav_list_type& stations = navaids[(int)(freq*100.0 + 0.5)];
+
+ SG_LOG( SG_INSTR, SG_DEBUG, "findStationByFreq " << freq << " size " << stations.size() );
+
+ if (!stations.empty()) {
+ return stations[0];
+ }
+ return NULL;
+}
+
+
+
+// FGTACANList ----------------------------------------------------------------
+
+FGTACANList::FGTACANList( void )
+{
+}
+
+
+FGTACANList::~FGTACANList( void )
+{
+}
+
+
+bool FGTACANList::init()
+{
+ 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