input->setStringValue("");
input->addChangeListener(listener);
- SGCommandMgr::instance()->addCommand("load-flightplan", commandLoadFlightPlan);
- SGCommandMgr::instance()->addCommand("save-flightplan", commandSaveFlightPlan);
- SGCommandMgr::instance()->addCommand("activate-flightplan", commandActivateFlightPlan);
- SGCommandMgr::instance()->addCommand("clear-flightplan", commandClearFlightPlan);
- SGCommandMgr::instance()->addCommand("set-active-waypt", commandSetActiveWaypt);
- SGCommandMgr::instance()->addCommand("insert-waypt", commandInsertWaypt);
- SGCommandMgr::instance()->addCommand("delete-waypt", commandDeleteWaypt);
+ SGCommandMgr* cmdMgr = SGCommandMgr::instance();
+ cmdMgr->addCommand("define-user-waypoint", this, &FGRouteMgr::commandDefineUserWaypoint);
+ cmdMgr->addCommand("delete-user-waypoint", this, &FGRouteMgr::commandDeleteUserWaypoint);
+
+ cmdMgr->addCommand("load-flightplan", commandLoadFlightPlan);
+ cmdMgr->addCommand("save-flightplan", commandSaveFlightPlan);
+ cmdMgr->addCommand("activate-flightplan", commandActivateFlightPlan);
+ cmdMgr->addCommand("clear-flightplan", commandClearFlightPlan);
+ cmdMgr->addCommand("set-active-waypt", commandSetActiveWaypt);
+ cmdMgr->addCommand("insert-waypt", commandInsertWaypt);
+ cmdMgr->addCommand("delete-waypt", commandDeleteWaypt);
}
{
input->removeChangeListener(listener);
delete listener;
+
+ SGCommandMgr* cmdMgr = SGCommandMgr::instance();
+ //cmdMgr->removeCommand("define-user-waypoint");
+
}
airborne->setBoolValue(false);
_edited = fgGetNode(RM "signals/edited", true);
- _finished = fgGetNode(RM "signals/finished", true);
_flightplanChanged = fgGetNode(RM "signals/flightplan-changed", true);
_currentWpt = fgGetNode(RM "current-wp", true);
_currentWpt->tie(SGRawValueMethods<FGRouteMgr, int>
(*this, &FGRouteMgr::currentIndex, &FGRouteMgr::jumpToIndex));
- // temporary distance / eta calculations, for backward-compatability
wp0 = fgGetNode(RM "wp", 0, true);
wp0->getChild("id", 0, true);
wp0->getChild("dist", 0, true);
return;
}
- if (checkFinished()) {
- endOfRoute();
- }
-
// basic course/distance information
SGGeod currentPos = globals->get_aircraft_position();
{
update_mirror();
_edited->fireValueChanged();
-
-// removing waypoints, deactivate if we hit the end.
- if (currentIndex() >= numLegs()) {
- endOfRoute();
- }
}
// mirror internal route to the property system for inspection by other subsystems
r++;
if (*r)
mgr->flightPlan()->insertWayptAtIndex(mgr->waypointFromString(r), pos);
- } else if (!strcmp(s, "@POSINIT")) {
- mgr->initAtPosition();
} else
mgr->flightPlan()->insertWayptAtIndex(mgr->waypointFromString(s), -1);
}
-void FGRouteMgr::initAtPosition()
-{
- if (isRouteActive()) {
- return; // don't mess with the active route
- }
-
- if (haveUserWaypoints()) {
- // user has already defined, loaded or entered a route, again
- // don't interfere with it
- return;
- }
-
- if (airborne->getBoolValue()) {
- SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: airborne, clearing departure info");
- _plan->setDeparture((FGAirport*) NULL);
- return;
- }
-
-// on the ground
- SGGeod pos = globals->get_aircraft_position();
- if (!_plan->departureAirport()) {
- _plan->setDeparture(FGAirport::findClosest(pos, 20.0));
- if (!_plan->departureAirport()) {
- SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: couldn't find an airport within 20nm");
- return;
- }
- }
-
- std::string rwy = departure->getStringValue("runway");
- FGRunway* r = NULL;
- if (!rwy.empty()) {
- r = _plan->departureAirport()->getRunwayByIdent(rwy);
- } else {
- r = _plan->departureAirport()->findBestRunwayForPos(pos);
- }
-
- if (!r) {
- return;
- }
-
- _plan->setDeparture(r);
- SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: starting at "
- << _plan->departureAirport()->ident() << " on runway " << r->ident());
-}
-
-bool FGRouteMgr::haveUserWaypoints() const
-{
- // FIXME
- return false;
-}
-
bool FGRouteMgr::activate()
{
if (!_plan) {
active->setBoolValue(false);
}
-void FGRouteMgr::sequence()
-{
- if (!_plan || !active->getBoolValue()) {
- SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
- return;
- }
-
- int nextIndex = _plan->currentIndex() + 1;
- if (nextIndex >= _plan->numLegs()) {
- SG_LOG(SG_AUTOPILOT, SG_INFO, "sequenced on final leg, deactivating route");
- endOfRoute();
- return;
- }
-
- _plan->setCurrentIndex(nextIndex);
-}
-
-void FGRouteMgr::endOfRoute()
-{
- SG_LOG(SG_AUTOPILOT, SG_INFO, "reached end of active route");
- _finished->fireValueChanged();
- active->setBoolValue(false);
-}
-
-bool FGRouteMgr::checkFinished()
-{
- if (!_plan) {
- return true;
- }
-
- bool done = false;
-// done if we're stopped on the destination runway
- if (_plan->currentLeg() &&
- (_plan->currentLeg()->waypoint()->source() == _plan->destinationRunway()))
- {
- double gs = groundSpeed->getDoubleValue();
- done = weightOnWheels->getBoolValue() && (gs < 25);
- }
-
- if (done) {
- SG_LOG(SG_AUTOPILOT, SG_INFO, "checkFinished: on the ground on destination runway, we're done");
- }
-
- return done;
-}
-
void FGRouteMgr::jumpToIndex(int index)
{
if (!_plan) {
return mirror->getChild("wp", index);
}
+
+bool FGRouteMgr::commandDefineUserWaypoint(const SGPropertyNode* arg)
+{
+ std::string ident = arg->getStringValue("ident");
+ if (ident.empty()) {
+ SG_LOG(SG_AUTOPILOT, SG_WARN, "missing ident defining user waypoint");
+ return false;
+ }
+
+ // check for duplicate idents
+ FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
+ FGPositionedList dups = FGPositioned::findAllWithIdent(ident, &f);
+ if (!dups.empty()) {
+ SG_LOG(SG_AUTOPILOT, SG_WARN, "defineUserWaypoint: non-unique waypoint identifier:" << ident);
+ return false;
+ }
+
+ SGGeod pos(SGGeod::fromDeg(arg->getDoubleValue("longitude-deg"),
+ arg->getDoubleValue("latitude-deg")));
+ FGPositioned::createUserWaypoint(ident, pos);
+ return true;
+}
+
+bool FGRouteMgr::commandDeleteUserWaypoint(const SGPropertyNode* arg)
+{
+ std::string ident = arg->getStringValue("ident");
+ if (ident.empty()) {
+ SG_LOG(SG_AUTOPILOT, SG_WARN, "missing ident deleting user waypoint");
+ return false;
+ }
+
+ return FGPositioned::deleteUserWaypoint(ident);
+}
+
#include "Navaids/positioned.hxx"
#include <Navaids/waypoint.hxx>
#include "Navaids/navrecord.hxx"
+#include "Navaids/FlightPlan.hxx"
#include "Airports/airport.hxx"
#include "Airports/runways.hxx"
#include "Autopilot/route_mgr.hxx"
return TTW_str;
}
-/////////////////////////////////////////////////////////////////////////////
-
-class GPSListener : public SGPropertyChangeListener
-{
-public:
- GPSListener(GPS *m) :
- _gps(m),
- _guard(false) {}
-
- virtual void valueChanged (SGPropertyNode * prop)
- {
- if (_guard) {
- return;
- }
-
- _guard = true;
- if (prop == _gps->_route_current_wp_node) {
- _gps->routeManagerSequenced();
- } else if (prop == _gps->_route_active_node) {
- _gps->routeActivated();
- } else if (prop == _gps->_ref_navaid_id_node) {
- _gps->referenceNavaidSet(prop->getStringValue(""));
- } else if (prop == _gps->_routeEditedSignal) {
- _gps->routeEdited();
- } else if (prop == _gps->_routeFinishedSignal) {
- _gps->routeFinished();
- }
-
- _guard = false;
- }
-
- void setGuard(bool g) {
- _guard = g;
- }
-private:
- GPS* _gps;
- bool _guard; // re-entrancy guard
-};
-
-////////////////////////////////////////////////////////////////////////////
-/**
- * Helper to monitor for Nasal or other code accessing properties we haven't
- * defined. For the moment we complain about all such activites, since various
- * users assume all kinds of weird, wonderful and non-existent interfaces.
- */
-
-class DeprecatedPropListener : public SGPropertyChangeListener
-{
-public:
- DeprecatedPropListener(SGPropertyNode* gps)
- {
- _parents.insert(gps);
- SGPropertyNode* wp = gps->getChild("wp", 0, true);
- _parents.insert(wp);
- _parents.insert(wp->getChild("wp", 0, true));
- _parents.insert(wp->getChild("wp", 1, true));
-
- std::set<SGPropertyNode*>::iterator it;
- for (it = _parents.begin(); it != _parents.end(); ++it) {
- (*it)->addChangeListener(this);
- }
- }
-
- virtual void valueChanged (SGPropertyNode * prop)
- {
- }
-
- virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
- {
- if (isDeprecated(parent, child)) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
- << child->getPath(true));
- }
- }
-private:
- bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
- {
- if (_parents.count(parent) < 1) {
- return false;
- }
-
- // no child exclusions yet
- return true;
- }
-
- std::set<SGPropertyNode*> _parents;
-};
-
////////////////////////////////////////////////////////////////////////////
// configuration helper object
////////////////////////////////////////////////////////////////////////////
-GPS::GPS ( SGPropertyNode *node) :
+GPS::GPS ( SGPropertyNode *node, bool defaultGPSMode) :
_selectedCourse(0.0),
_desiredCourse(0.0),
_dataValid(false),
_lastPosValid(false),
+ _defaultGPSMode(defaultGPSMode),
_mode("init"),
_name(node->getStringValue("name", "gps")),
_num(node->getIntValue("number", 0)),
- _searchResultIndex(0),
- _searchExact(true),
- _searchIsRoute(false),
- _searchHasNext(false),
- _searchNames(false),
_computeTurnData(false),
_anticipateTurn(false),
- _inTurn(false)
+ _inTurn(false),
+ _callbackFlightPlanChanged(SGPropertyChangeCallback<GPS>(this,&GPS::routeManagerFlightPlanChanged,
+ fgGetNode("/autopilot/route-manager/signals/flightplan-changed", true))),
+ _callbackRouteActivated(SGPropertyChangeCallback<GPS>(this,&GPS::routeActivated,
+ fgGetNode("/autopilot/route-manager/active", true)))
{
string branch = "/instrumentation/" + _name;
_gpsNode = fgGetNode(branch.c_str(), _num, true );
void
GPS::init ()
{
- _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
- assert(_routeMgr);
-
_magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
_serviceable_node = _gpsNode->getChild("serviceable", 0, true);
_serviceable_node->setBoolValue(true);
wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
_tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
-
-// reference navid
- SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
- _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
- _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
- _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
- _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
- _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
- _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
- _ref_navaid_elapsed = 0.0;
- _ref_navaid_set = false;
-// route properties
+// route properties
// should these move to the route manager?
_routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
_routeETE = _gpsNode->getChild("ETE", 0, true);
- _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
- _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
-
-// add listener to various things
- _listener = new GPSListener(this);
- _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
- _route_current_wp_node->addChangeListener(_listener);
- _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
- _route_active_node->addChangeListener(_listener);
- _ref_navaid_id_node->addChangeListener(_listener);
- _routeEditedSignal->addChangeListener(_listener);
- _routeFinishedSignal->addChangeListener(_listener);
-
-// navradio slaving properties
+
+
+// navradio slaving properties
SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
toFlag->alias(_currentWayptNode->getChild("to-flag"));
// autopilot drive properties
_apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
_apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
- _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
- _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
-
-// realism prop[s]
- _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
- if (!_realismSimpleGps->hasValue()) {
- _realismSimpleGps->setBoolValue(true);
- }
-
- clearOutput();
- // last thing, add the deprecated prop watcher
- new DeprecatedPropListener(_gpsNode);
+ clearOutput();
}
void
// command system
tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
-
tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
- tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
- tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
- tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
- tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
- tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
- _scratchValid = false;
-
SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
-
tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
+ tie(wp0_node, "ID", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP0Ident, NULL));
+
+
tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
(*this, &GPS::getWP1Ident, NULL));
void
GPS::update (double delta_time_sec)
{
- if (!_realismSimpleGps->getBoolValue()) {
+ if (!_defaultGPSMode) {
// If it's off, don't bother.
if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
clearOutput();
updateTrackingBug();
- updateReferenceNavaid(delta_time_sec);
driveAutopilot();
}
if (_dataValid && (_mode == "init")) {
-
- if (_route_active_node->getBoolValue()) {
- // GPS init with active route
- SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
- selectLegMode();
- } else {
+ // will select LEG mode if the route is active
+ routeManagerFlightPlanChanged(NULL);
+
+ FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
+ if (!routeMgr->isRouteActive()) {
// initialise in OBS mode, with waypt set to the nearest airport.
// keep in mind at this point, _dataValid is not set
-
- auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
+ auto_ptr<FGPositioned::Filter> f(new FGAirport::HardSurfaceFilter());
FGPositionedRef apt = FGPositioned::findClosest(_indicated_pos, 20.0, f.get());
if (apt) {
- setScratchFromPositioned(apt, 0);
- selectOBSMode();
+ selectOBSMode(new flightgear::NavaidWaypoint(apt, NULL));
}
}
_lastPosValid = !(_last_pos == SGGeod());
}
+void GPS::routeManagerFlightPlanChanged(SGPropertyNode*)
+{
+ if (_route) {
+ _route->removeDelegate(this);
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS saw route-manager flight-plan replaced.");
+ FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
+ _route = routeMgr->flightPlan();
+ if (_route) {
+ _route->addDelegate(this);
+ }
+
+ if (routeMgr->isRouteActive()) {
+ selectLegMode();
+ } else {
+ selectOBSMode(_currentWaypt); // revert to OBS on current waypoint
+ }
+}
+
+void GPS::routeActivated(SGPropertyNode* aNode)
+{
+ bool isActive = aNode->getBoolValue();
+ if (isActive) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
+ selectLegMode();
+
+ // if we've already passed the current waypoint, sequence.
+ if (_dataValid && getWP1FromFlag()) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
+ sequence();
+ }
+ } else if (_mode == "leg") {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
+ selectOBSMode(_currentWaypt);
+ }
+}
+
///////////////////////////////////////////////////////////////////////////
// implement the RNAV interface
SGGeod GPS::position()
_magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
}
-void GPS::updateReferenceNavaid(double dt)
-{
- if (!_ref_navaid_set) {
- _ref_navaid_elapsed += dt;
- if (_ref_navaid_elapsed > 5.0) {
-
- FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
- FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
- if (!nav) {
- SG_LOG(SG_INSTR, SG_DEBUG, "GPS couldn't find a reference navaid");
- _ref_navaid_id_node->setStringValue("");
- _ref_navaid_name_node->setStringValue("");
- _ref_navaid_bearing_node->setDoubleValue(0.0);
- _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
- _ref_navaid_distance_node->setDoubleValue(0.0);
- _ref_navaid_frequency_node->setStringValue("");
- } else if (nav != _ref_navaid) {
- SG_LOG(SG_INSTR, SG_DEBUG, "GPS code selected new ref-navaid:" << nav->ident());
- _listener->setGuard(true);
- _ref_navaid_id_node->setStringValue(nav->ident().c_str());
- _ref_navaid_name_node->setStringValue(nav->name().c_str());
- FGNavRecord* vor = (FGNavRecord*) nav.ptr();
- _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
- _listener->setGuard(false);
- } else {
- // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
- }
-
- _ref_navaid = nav;
- // reset elapsed time (do not do that before updating the properties above, since their
- // listeners may request another update (_ref_navaid_elapsed = 9999), which results in
- // excessive load (FGPositioned::findClosest called in every update loop...)
- _ref_navaid_elapsed = 0.0;
- }
- }
-
- if (_ref_navaid) {
- double trueCourse, distanceM, az2;
- SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
- _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
- _ref_navaid_bearing_node->setDoubleValue(trueCourse);
- _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
- }
-}
-
-void GPS::referenceNavaidSet(const std::string& aNavaid)
+void GPS::endOfFlightPlan()
{
- _ref_navaid = NULL;
- // allow setting an empty string to restore normal nearest-vor selection
- if (aNavaid.size() > 0) {
- FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
- _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
- _indicated_pos, &vorFilter);
-
- if (!_ref_navaid) {
- SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
- }
- }
-
- if (_ref_navaid) {
- _ref_navaid_set = true;
- SG_LOG(SG_INSTR, SG_INFO, "GPS code set explicit ref-navaid:" << _ref_navaid->ident());
- _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
- _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
- FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
- _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
- } else {
- _ref_navaid_set = false;
- _ref_navaid_elapsed = 9999.0; // update next tick
- }
+ selectOBSMode(_currentWaypt);
}
-void GPS::routeActivated()
+void GPS::currentWaypointChanged()
{
- if (_route_active_node->getBoolValue()) {
- SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
- selectLegMode();
-
- // if we've already passed the current waypoint, sequence.
- if (_dataValid && getWP1FromFlag()) {
- SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
- _routeMgr->sequence();
- }
- } else if (_mode == "leg") {
- SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
- // select OBS mode, but keep current waypoint-as is
- _mode = "obs";
- wp1Changed();
- }
-}
-
-void GPS::routeManagerSequenced()
-{
- if (_mode != "leg") {
- SG_LOG(SG_INSTR, SG_DEBUG, "GPS ignoring route sequencing, not in LEG mode");
+ if (!_route) {
return;
}
- int index = _routeMgr->currentIndex(),
- count = _routeMgr->numWaypts();
+ int index = _route->currentIndex(),
+ count = _route->numLegs();
if ((index < 0) || (index >= count)) {
_currentWaypt=NULL;
_prevWaypt=NULL;
// no active leg on the route
return;
}
-
- SG_LOG(SG_INSTR, SG_DEBUG, "GPS waypoint index is now " << index);
-
+
if (index > 0) {
- _prevWaypt = _routeMgr->wayptAtIndex(index - 1);
+ _prevWaypt = _route->previousLeg()->waypoint();
if (_prevWaypt->flag(WPT_DYNAMIC)) {
_wp0_position = _indicated_pos;
} else {
}
}
- _currentWaypt = _routeMgr->currentWaypt();
-
+ _currentWaypt = _route->currentLeg()->waypoint();
_desiredCourse = getLegMagCourse();
_desiredCourseNode->fireValueChanged();
wp1Changed();
}
-void GPS::routeEdited()
+
+void GPS::waypointsChanged()
{
if (_mode != "leg") {
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
- routeManagerSequenced();
+ currentWaypointChanged();
}
-void GPS::routeFinished()
+void GPS::cleared()
{
- if (_mode != "leg") {
- return;
- }
+ if (_mode != "leg") {
+ return;
+ }
+
+ selectOBSMode(_currentWaypt);
+}
+
+void GPS::sequence()
+{
+ if (!_route) {
+ return;
+ }
- SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
- // select OBS mode, but keep current waypoint-as is
- _mode = "obs";
- wp1Changed();
+ int nextIndex = _route->currentIndex() + 1;
+ if (nextIndex >= _route->numLegs()) {
+ SG_LOG(SG_INSTR, SG_INFO, "sequenced final leg, end of route");
+ _route->finish();
+ selectOBSMode(_currentWaypt);
+ return;
+ }
+
+ // will callback into currentWaypointChanged
+ _route->setCurrentIndex(nextIndex);
}
void GPS::updateTurn()
if (_inTurn && !_turnSequenced && (progress > 0.5)) {
_turnSequenced = true;
SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
- _routeMgr->sequence();
+ sequence();
}
if (_inTurn && (progress >= 1.0)) {
SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
// check for wp1 being on active route - resume leg mode
- if (_routeMgr->isRouteActive()) {
- int index = _routeMgr->flightPlan()->findWayptIndex(_currentWaypt->position());
+ if (_route) {
+ int index = _route->findWayptIndex(_currentWaypt->position());
if (index >= 0) {
SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
_mode = "leg";
- _routeMgr->jumpToIndex(index);
+ _route->setCurrentIndex(index);
+ sequence(); // and sequence to the next point
}
}
}
} else if (_mode == "leg") {
SG_LOG(SG_INSTR, SG_DEBUG, "GPS doing overflight sequencing");
- _routeMgr->sequence();
+ sequence();
} else if (_mode == "obs") {
// nothing to do here, TO/FROM will update but that's fine
}
void GPS::computeTurnData()
{
_computeTurnData = false;
- int nextIndex = _routeMgr->currentIndex() + 1;
- if ((_mode != "leg") || (nextIndex >= _routeMgr->numWaypts())) {
+ if ((_mode != "leg") || !_route->nextLeg()) {
_anticipateTurn = false;
return;
}
- WayptRef next = _routeMgr->wayptAtIndex(nextIndex);
+ WayptRef next = _route->nextLeg()->waypoint();
if (next->flag(WPT_DYNAMIC) || !_config.turnAnticipationEnabled()) {
_anticipateTurn = false;
return;
{
double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
// walk all waypoints from wp2 to route end, and sum
- for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
+ // for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
//totalDistance += _routeMgr->get_waypoint(i).get_distance();
- }
+ //}
_routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
if (_last_speed_kts > 1.0) {
void GPS::driveAutopilot()
{
- if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
+ if (!_config.driveAutopilot() || !_defaultGPSMode) {
_apDrivingFlag->setBoolValue(false);
return;
}
_wayptController->update();
_legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
}
-
- if (!_config.driveAutopilot()) {
- return;
- }
-
- RouteRestriction ar = _currentWaypt->altitudeRestriction();
- double restrictAlt = _currentWaypt->altitudeFt();
- double alt = _indicated_pos.getElevationFt();
- if ((ar == RESTRICT_AT) ||
- ((ar == RESTRICT_ABOVE) && (alt < restrictAlt)) ||
- ((ar == RESTRICT_BELOW) && (alt > restrictAlt)))
- {
- SG_LOG(SG_AUTOPILOT, SG_INFO, "current waypt has altitude set, setting on AP");
- _apTargetAltitudeFt->setDoubleValue(restrictAlt);
- }
}
/////////////////////////////////////////////////////////////////////////////
return !getWP1ToFlag();
}
-double GPS::getScratchDistance() const
-{
- if (!_scratchValid) {
- return 0.0;
- }
-
- return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
-}
-
-double GPS::getScratchTrueBearing() const
-{
- if (!_scratchValid) {
- return 0.0;
- }
-
- return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
-}
-
-double GPS::getScratchMagBearing() const
-{
- if (!_scratchValid) {
- return 0.0;
- }
-
- double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
- SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
- return crs;
-}
-
/////////////////////////////////////////////////////////////////////////////
-// command / scratch / search system
+// scratch system
void GPS::setCommand(const char* aCmd)
{
if (!strcmp(aCmd, "direct")) {
directTo();
} else if (!strcmp(aCmd, "obs")) {
- selectOBSMode();
+ selectOBSMode(NULL);
} else if (!strcmp(aCmd, "leg")) {
selectLegMode();
- } else if (!strcmp(aCmd, "load-route-wpt")) {
- loadRouteWaypoint();
- } else if (!strcmp(aCmd, "nearest")) {
- loadNearest();
- } else if (!strcmp(aCmd, "search")) {
- _searchNames = false;
- search();
- } else if (!strcmp(aCmd, "search-names")) {
- _searchNames = true;
- search();
- } else if (!strcmp(aCmd, "next")) {
- nextResult();
- } else if (!strcmp(aCmd, "previous")) {
- previousResult();
- } else if (!strcmp(aCmd, "define-user-wpt")) {
- defineWaypoint();
- } else if (!strcmp(aCmd, "route-insert-before")) {
- int index = _scratchNode->getIntValue("index");
- if (index < 0 || (_routeMgr->numWaypts() == 0)) {
- index = _routeMgr->numWaypts();
- } else if (index >= _routeMgr->numWaypts()) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
- return;
- }
-
- insertWaypointAtIndex(index);
- } else if (!strcmp(aCmd, "route-insert-after")) {
- int index = _scratchNode->getIntValue("index");
- if (index < 0 || (_routeMgr->numWaypts() == 0)) {
- index = _routeMgr->numWaypts();
- } else if (index >= _routeMgr->numWaypts()) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
- return;
- } else {
- ++index;
- }
-
- insertWaypointAtIndex(index);
- } else if (!strcmp(aCmd, "route-delete")) {
- int index = _scratchNode->getIntValue("index");
- if (index < 0) {
- index = _routeMgr->numWaypts();
- } else if (index >= _routeMgr->numWaypts()) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
- return;
- }
-
- removeWaypointAtIndex(index);
} else {
SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
}
void GPS::clearScratch()
{
_scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
- _scratchValid = false;
- _scratchNode->setStringValue("type", "");
- _scratchNode->setStringValue("query", "");
+ _scratchNode->setBoolValue("valid", false);
}
bool GPS::isScratchPositionValid() const
wp1Changed();
}
-void GPS::loadRouteWaypoint()
+void GPS::selectOBSMode(flightgear::Waypt* waypt)
{
- _scratchValid = false;
-// if (!_routeMgr->isRouteActive()) {
-// SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
-// return;
-// }
-
- int index = _scratchNode->getIntValue("index", -9999);
- clearScratch();
-
- if ((index < 0) || (index >= _routeMgr->numWaypts())) { // no index supplied, use current wp
- index = _routeMgr->currentIndex();
- }
-
- _searchIsRoute = true;
- setScratchFromRouteWaypoint(index);
-}
-
-void GPS::setScratchFromRouteWaypoint(int aIndex)
-{
- assert(_searchIsRoute);
- if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
- return;
- }
-
- _searchResultIndex = aIndex;
- WayptRef wp = _routeMgr->wayptAtIndex(aIndex);
- _scratchNode->setStringValue("ident", wp->ident());
- _scratchPos = wp->position();
- _scratchValid = true;
- _scratchNode->setIntValue("index", aIndex);
-}
-
-void GPS::loadNearest()
-{
- string sty(_scratchNode->getStringValue("type"));
- FGPositioned::Type ty = FGPositioned::typeFromName(sty);
- if (ty == FGPositioned::INVALID) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
- return;
- }
-
- auto_ptr<FGPositioned::Filter> f(createFilter(ty));
- int limitCount = _scratchNode->getIntValue("max-results", 1);
- double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
-
- SGGeod searchPos = _indicated_pos;
- if (isScratchPositionValid()) {
- searchPos = _scratchPos;
- }
-
- clearScratch(); // clear now, regardless of whether we find a match or not
-
- _searchResults =
- FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
- _searchResultIndex = 0;
- _searchIsRoute = false;
-
- if (_searchResults.empty()) {
- return;
- }
-
- setScratchFromCachedSearchResult();
-}
-
-bool GPS::SearchFilter::pass(FGPositioned* aPos) const
-{
- switch (aPos->type()) {
- case FGPositioned::AIRPORT:
- // heliport and seaport too?
- case FGPositioned::VOR:
- case FGPositioned::NDB:
- case FGPositioned::FIX:
- case FGPositioned::TACAN:
- case FGPositioned::WAYPOINT:
- return true;
- default:
- return false;
- }
-}
-
-FGPositioned::Type GPS::SearchFilter::minType() const
-{
- return FGPositioned::AIRPORT;
-}
-
-FGPositioned::Type GPS::SearchFilter::maxType() const
-{
- return FGPositioned::VOR;
-}
-
-FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
-{
- if (aTy == FGPositioned::AIRPORT) {
- return new FGAirport::HardSurfaceFilter();
- }
-
- // if we were passed INVALID, assume it means 'all types interesting to a GPS'
- if (aTy == FGPositioned::INVALID) {
- return new SearchFilter;
- }
-
- return new FGPositioned::TypeFilter(aTy);
-}
-
-void GPS::search()
-{
- // parse search terms into local members, and exec the first search
- string sty(_scratchNode->getStringValue("type"));
- _searchType = FGPositioned::typeFromName(sty);
- _searchQuery = _scratchNode->getStringValue("query");
- if (_searchQuery.empty()) {
- SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
- clearScratch();
- return;
- }
-
- _searchExact = _scratchNode->getBoolValue("exact", true);
- _searchResultIndex = 0;
- _searchIsRoute = false;
-
- auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
- if (_searchNames) {
- _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
- } else {
- _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
- }
-
- bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
- if (orderByRange) {
- FGPositioned::sortByRange(_searchResults, _indicated_pos);
- }
-
- if (_searchResults.empty()) {
- clearScratch();
- return;
- }
-
- setScratchFromCachedSearchResult();
-}
-
-bool GPS::getScratchHasNext() const
-{
- int lastResult;
- if (_searchIsRoute) {
- lastResult = _routeMgr->numWaypts() - 1;
- } else {
- lastResult = (int) _searchResults.size() - 1;
- }
-
- if (lastResult < 0) { // search array might be empty
- return false;
- }
-
- return (_searchResultIndex < lastResult);
-}
-
-void GPS::setScratchFromCachedSearchResult()
-{
- int index = _searchResultIndex;
-
- if ((index < 0) || (index >= (int) _searchResults.size())) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
- return;
- }
-
- setScratchFromPositioned(_searchResults[index], index);
-}
-
-void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
-{
- clearScratch();
- assert(aPos);
-
- _scratchPos = aPos->geod();
- _scratchNode->setStringValue("name", aPos->name());
- _scratchNode->setStringValue("ident", aPos->ident());
- _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
-
- if (aIndex >= 0) {
- _scratchNode->setIntValue("index", aIndex);
- }
-
- _scratchValid = true;
- _scratchNode->setIntValue("result-count", _searchResults.size());
-
- switch (aPos->type()) {
- case FGPositioned::VOR:
- _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
- break;
-
- case FGPositioned::NDB:
- _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
- break;
-
- case FGPositioned::AIRPORT:
- addAirportToScratch((FGAirport*)aPos);
- break;
-
- default:
- // no-op
- break;
- }
-
- // look for being on the route and set?
-}
-
-void GPS::addAirportToScratch(FGAirport* aAirport)
-{
- for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
- SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
- FGRunway* rwy = aAirport->getRunwayByIndex(r);
- // TODO - filter out unsuitable runways in the future
- // based on config again
-
- rwyNd->setStringValue("id", rwy->ident().c_str());
- rwyNd->setIntValue("length-ft", rwy->lengthFt());
- rwyNd->setIntValue("width-ft", rwy->widthFt());
- rwyNd->setIntValue("heading-deg", rwy->headingDeg());
- // map surface code to a string
- // TODO - lighting information
-
- if (rwy->ILS()) {
- rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
+ if (!waypt) {
+ // initialise from scratch
+ if (!isScratchPositionValid()) {
+ return;
}
- } // of runways iteration
-}
-
-
-void GPS::selectOBSMode()
-{
- if (!isScratchPositionValid()) {
- return;
+
+ waypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
}
_mode = "obs";
- _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
+ _currentWaypt = waypt;
_wp0_position = _indicated_pos;
wp1Changed();
}
return;
}
- if (!_routeMgr->isRouteActive()) {
+ if (!_route) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
return;
}
_wp0_position = _indicated_pos;
// not really sequenced, but does all the work of updating wp0/1
- routeManagerSequenced();
-}
-
-void GPS::nextResult()
-{
- if (!getScratchHasNext()) {
- return;
- }
-
- clearScratch();
- if (_searchIsRoute) {
- setScratchFromRouteWaypoint(++_searchResultIndex);
- } else {
- ++_searchResultIndex;
- setScratchFromCachedSearchResult();
- }
-}
-
-void GPS::previousResult()
-{
- if (_searchResultIndex <= 0) {
- return;
- }
-
- clearScratch();
- --_searchResultIndex;
-
- if (_searchIsRoute) {
- setScratchFromRouteWaypoint(_searchResultIndex);
- } else {
- setScratchFromCachedSearchResult();
- }
-}
-
-void GPS::defineWaypoint()
-{
- if (!isScratchPositionValid()) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
- return;
- }
-
- string ident = _scratchNode->getStringValue("ident");
- if (ident.size() < 2) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
- return;
- }
-
-// check for duplicate idents
- FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
- FGPositionedList dups = FGPositioned::findAllWithIdent(ident, &f);
- if (!dups.empty()) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
- }
-
- SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
- FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
- _searchResults.clear();
- _searchResults.push_back(wpt);
- setScratchFromPositioned(wpt.get(), -1);
-}
-
-void GPS::insertWaypointAtIndex(int aIndex)
-{
- // note we do allow index = routeMgr->size(), that's an append
- if ((aIndex < 0) || (aIndex > _routeMgr->numWaypts())) {
- throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
- }
-
- if (!isScratchPositionValid()) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
- return;
- }
-
- string ident = _scratchNode->getStringValue("ident");
-
- WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
- _routeMgr->flightPlan()->insertWayptAtIndex(wpt, aIndex);
-}
-
-void GPS::removeWaypointAtIndex(int aIndex)
-{
- if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
- throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
- }
-
- _routeMgr->removeLegAtIndex(aIndex);
+ currentWaypointChanged();
}
void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
projects / flightgear.git / commitdiff