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| 85 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 44 | // |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include <stdlib.h> |
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| 58 | #include <stdio.h> |
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| 59 | #include "91x_lib.h" |
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| 60 | #include "gpx.h" |
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| 61 | #include "gpx_header.h" |
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| 62 | #include "timer.h" |
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| 63 | |||
| 64 | //________________________________________________________________________________________________________________________________________ |
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| 65 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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| 66 | // |
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| 67 | // Description: This function initializes the gpx-document for further use. |
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| 68 | // |
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| 69 | // |
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| 70 | // Returnvalue: '1' if document was initialized |
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| 71 | //________________________________________________________________________________________________________________________________________ |
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| 72 | |||
| 73 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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| 74 | { |
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| 75 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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| 76 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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| 77 | doc->file = NULL; |
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| 78 | return(1); |
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| 79 | } |
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| 80 | |||
| 81 | //________________________________________________________________________________________________________________________________________ |
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| 82 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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| 83 | // |
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| 84 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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| 85 | // |
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| 86 | // |
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| 87 | // Returnvalue: '1' if the gpx-file could be created. |
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| 88 | //________________________________________________________________________________________________________________________________________ |
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| 89 | |||
| 90 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
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| 91 | { |
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| 92 | |||
| 93 | u8 retvalue = 0; |
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| 94 | |||
| 95 | if(doc == NULL) return(0); |
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| 96 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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| 97 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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| 98 | |||
| 99 | if(doc->file != NULL) // could the file be opened? |
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| 100 | { |
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| 101 | retvalue = 1; // the document could be created on the drive. |
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| 102 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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| 103 | fwrite_((void*)GPX_DOCUMENT_HEADER, sizeof(GPX_DOCUMENT_HEADER)-1,1,doc->file);// write the gpx-header to the document. |
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| 104 | } |
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| 105 | |||
| 106 | return(retvalue); |
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| 107 | } |
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| 108 | |||
| 109 | //________________________________________________________________________________________________________________________________________ |
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| 110 | // Function: DocumentClose(GPX_Document_t *doc); |
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| 111 | // |
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| 112 | // Description: This function closes the document specified by doc. |
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| 113 | // |
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| 114 | // |
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| 115 | // Returnvalue: '1' if the gpx-file could be closed. |
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| 116 | //________________________________________________________________________________________________________________________________________ |
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| 117 | |||
| 118 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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| 119 | { |
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| 120 | |||
| 121 | u8 retvalue = 1; |
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| 122 | |||
| 123 | if(doc == NULL) return(0); |
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| 124 | |||
| 125 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
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| 126 | { |
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| 127 | switch(doc->state) |
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| 128 | { |
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| 129 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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| 130 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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| 131 | break; |
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| 132 | |||
| 133 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
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| 134 | GPX_TrackEnd(doc); |
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| 135 | break; |
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| 136 | |||
| 137 | case GPX_DOC_OPENED: // close the file on the memorycard |
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| 138 | if(doc->file != NULL) |
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| 139 | { |
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| 140 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
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| 141 | fclose_(doc->file); |
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| 142 | retvalue = 1; |
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| 143 | } |
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| 144 | doc->state = GPX_DOC_CLOSED; |
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| 145 | break; |
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| 146 | |||
| 147 | default: |
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| 148 | doc->state = GPX_DOC_CLOSED; |
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| 149 | break; |
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| 150 | } |
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| 151 | } |
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| 152 | return(retvalue); |
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| 153 | } |
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| 154 | |||
| 155 | //________________________________________________________________________________________________________________________________________ |
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| 156 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
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| 157 | // |
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| 158 | // Description: This function adds a track to the document. |
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| 159 | // |
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| 160 | // |
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| 161 | // Returnvalue: '1' if the track could be opened |
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| 162 | //________________________________________________________________________________________________________________________________________ |
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| 163 | |||
| 164 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
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| 165 | { |
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| 166 | |||
| 167 | u8 retvalue = 0; |
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| 168 | if(doc->state == GPX_DOC_OPENED) |
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| 169 | { |
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| 170 | if(doc->file != NULL) |
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| 171 | { |
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| 172 | doc->state = GPX_DOC_TRACK_OPENED; |
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| 173 | retvalue = 1; |
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| 174 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
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| 175 | } |
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| 176 | } |
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| 177 | return(retvalue); |
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| 178 | } |
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| 179 | |||
| 180 | //________________________________________________________________________________________________________________________________________ |
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| 181 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
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| 182 | // |
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| 183 | // Description: This function ends the track opened before. |
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| 184 | // |
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| 185 | // |
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| 186 | // Returnvalue: 1' if the track could be closed |
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| 187 | //________________________________________________________________________________________________________________________________________ |
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| 188 | |||
| 189 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
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| 190 | { |
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| 191 | |||
| 192 | u8 retvalue = 0; |
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| 193 | |||
| 194 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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| 195 | { |
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| 196 | if(doc->file != NULL) |
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| 197 | { |
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| 198 | doc->state = GPX_DOC_OPENED; |
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| 199 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
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| 200 | retvalue = 1; |
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| 201 | } |
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| 202 | } |
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| 203 | |||
| 204 | return(retvalue); |
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| 205 | } |
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| 206 | |||
| 207 | //________________________________________________________________________________________________________________________________________ |
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| 208 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
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| 209 | // |
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| 210 | // Description: This function starts a track segment. |
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| 211 | // |
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| 212 | // |
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| 213 | // Returnvalue: '1' if the track segement could be started |
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| 214 | //________________________________________________________________________________________________________________________________________ |
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| 215 | |||
| 216 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
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| 217 | { |
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| 218 | |||
| 219 | u8 retvalue = 0; |
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| 220 | |||
| 221 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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| 222 | { |
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| 223 | if(doc->file != NULL) |
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| 224 | { |
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| 225 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
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| 226 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
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| 227 | retvalue = 1; |
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| 228 | } |
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| 229 | } |
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| 230 | return(retvalue); |
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| 231 | } |
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| 232 | |||
| 233 | //________________________________________________________________________________________________________________________________________ |
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| 234 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
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| 235 | // |
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| 236 | // Description: This function ends the tracksegment opened before. |
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| 237 | // |
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| 238 | // |
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| 239 | // Returnvalue: '1' if the track segment could be terminated |
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| 240 | //________________________________________________________________________________________________________________________________________ |
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| 241 | |||
| 242 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
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| 243 | { |
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| 244 | |||
| 245 | u8 retvalue = 0; |
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| 246 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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| 247 | { |
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| 248 | if(doc->file != NULL) |
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| 249 | { |
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| 250 | doc->state = GPX_DOC_TRACK_OPENED; |
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| 251 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
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| 252 | retvalue = 1; |
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| 253 | } |
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| 254 | } |
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| 255 | return(retvalue); |
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| 256 | } |
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| 257 | |||
| 258 | //________________________________________________________________________________________________________________________________________ |
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| 259 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
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| 260 | // |
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| 261 | // Description: This function adds a pointof a track segement to the specified document. |
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| 262 | // |
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| 263 | // |
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| 264 | // Returnvalue: '1' if a point was added |
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| 265 | //________________________________________________________________________________________________________________________________________ |
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| 266 | |||
| 267 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc) |
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| 268 | { |
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| 269 | |||
| 270 | u8 retvalue = 0; |
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| 271 | s8 string[50]; |
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| 272 | s32 rel_altitude = 0; |
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| 273 | |||
| 274 | if(doc == NULL) return(0); |
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| 275 | |||
| 276 | if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
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| 277 | { |
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| 278 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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| 279 | { |
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| 280 | if(doc->file != NULL) |
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| 281 | { |
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| 282 | s32 i1, i2; |
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| 283 | u8 sign; |
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| 284 | // write <trkpt> tag |
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| 285 | if(GPSData.Position.Latitude < 0) sign = '-'; |
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| 286 | else sign = '+'; |
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| 287 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
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| 288 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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| 289 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",sign, i1, i2); |
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| 290 | fputs_(string, doc->file); |
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| 291 | if(GPSData.Position.Longitude < 0) sign = '-'; |
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| 292 | else sign = '+'; |
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| 293 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
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| 294 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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| 295 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",sign, i1, i2); |
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| 296 | fputs_(string, doc->file); |
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| 297 | // write <ele> taga |
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| 298 | rel_altitude = GPSData.Position.Altitude - GPS_HomePosition.Altitude; |
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| 299 | if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
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| 300 | i1 = rel_altitude/1000L; |
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| 301 | i2 = rel_altitude%1000L; |
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| 302 | sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i1, i2); |
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| 303 | fputs_(string, doc->file); |
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| 304 | // write <time> tag only at a resolution of one second |
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| 305 | sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
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| 306 | fputs_(string, doc->file); |
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| 307 | |||
| 308 | // todo: add <extensions> tag with additional data to be logged |
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| 309 | |||
| 310 | sprintf(string, "</trkpt>\r\n"); |
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| 311 | fputs_(string, doc->file); |
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| 312 | retvalue = 1; |
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| 313 | } |
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| 314 | } |
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| 315 | } |
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| 316 | return(retvalue); |
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| 317 | } |
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| 318 | |||
| 319 | //________________________________________________________________________________________________________________________________________ |
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| 320 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
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| 321 | // |
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| 322 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
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| 323 | // |
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| 324 | // |
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| 325 | // Returnvalue: '1' if an gps coordinate was logged |
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| 326 | //________________________________________________________________________________________________________________________________________ |
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| 327 | |||
| 328 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc) |
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| 329 | { |
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| 330 | u8 retval = 0; |
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| 331 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
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| 332 | { |
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| 333 | switch(doc->state) |
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| 334 | { |
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| 335 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
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| 336 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
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| 337 | break; |
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| 338 | |||
| 339 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
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| 340 | retval = GPX_TrackBegin(doc); |
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| 341 | break; |
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| 342 | |||
| 343 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
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| 344 | retval = GPX_TrackSegmentBegin(doc); |
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| 345 | break; |
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| 346 | |||
| 347 | default: |
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| 348 | retval = 0; |
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| 349 | break; |
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| 350 | |||
| 351 | } |
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| 352 | if(retval != 1) return(retval); // stop on error |
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| 353 | } |
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| 354 | |||
| 355 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
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| 356 | { |
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| 357 | retval = GPX_TrackSegementAddPoint(doc); // add a track segment point |
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| 358 | } |
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| 359 | return(retval); |
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| 360 | } |
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| 361 |