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| 406 | joko | 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 "kml.h" |
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| 60 | #include "kml_header.h" |
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| 61 | |||
| 62 | |||
| 63 | //________________________________________________________________________________________________________________________________________ |
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| 64 | // Module name: kml.c |
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| 65 | // Compiler used: avr-gcc 3.4.5 |
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| 66 | // Last Modifikation: 22.03.2009 |
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| 67 | // Version: 1.03 |
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| 68 | // Authors: Stephan Busker, Gregor Stobrawa |
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| 69 | // Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
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| 70 | // Copyright (C) 2007 Stephan Busker |
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| 71 | //........................................................................................................................................ |
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| 72 | // Functions: extern u8 KML_LoggGPSCoordinates(struct str_gps_nav_data , KML_Document_t *); // intializes the kml-document with standard filename and adds points to the file |
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| 73 | // extern u8 KML_DocumentInit(KML_Document_t *doc) // initializes the kml-document to resetvalues. |
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| 74 | // extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml document. A filename can be specified. |
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| 75 | // extern u8 KML_DocumentClose(KML_Document_t *doc); // closes an open document |
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| 76 | // extern u8 KML_PlaceMarkOpen(KML_Document_t *); // opens a new placemark within the specified document |
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| 77 | // extern u8 KML_PlaceMarkClose(KML_Document_t *); // Closes the placemark |
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| 78 | // extern u8 KML_LineStringBegin(KML_Document_t *); // begins a new line within the actual placemark |
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| 79 | // extern u8 KML_LineStringEnd(KML_Document_t *doc); // ends the actual linestring |
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| 80 | // extern u8 KML_LineStringAddPoint(struct str_gps_nav_data, KML_Document_t *); // adds a new point (gps-coordinates) to the actual linestring |
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| 81 | //........................................................................................................................................ |
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| 82 | // ext. functions: |
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| 83 | // |
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| 84 | //........................................................................................................................................ |
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| 85 | // |
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| 86 | // URL: www.Mikro-Control.de |
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| 87 | // mailto: stephan.busker@mikro-control.de |
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| 88 | //________________________________________________________________________________________________________________________________________ |
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| 89 | |||
| 90 | |||
| 91 | |||
| 92 | //________________________________________________________________________________________________________________________________________ |
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| 93 | // Function: KML_DocumentInit(KML_Document_t *) |
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| 94 | // |
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| 95 | // Description: This function initializes the kml-document for further use. |
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| 96 | // |
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| 97 | // |
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| 98 | // Returnvalue: '1' if document was initialized |
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| 99 | //________________________________________________________________________________________________________________________________________ |
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| 100 | |||
| 101 | uint8_t KML_DocumentInit(KML_Document_t *doc) |
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| 415 | killagreg | 102 | { |
| 406 | joko | 103 | doc->state = KML_DOC_CLOSED; // state of the kml-document |
| 104 | doc->file = NULL; |
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| 105 | return(1); |
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| 106 | } |
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| 107 | |||
| 108 | //________________________________________________________________________________________________________________________________________ |
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| 109 | // Function: KML_Document_Open(void); |
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| 110 | // |
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| 111 | // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
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| 112 | // |
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| 113 | // |
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| 114 | // Returnvalue: '1' if the KML- file could be created. |
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| 115 | //________________________________________________________________________________________________________________________________________ |
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| 116 | |||
| 117 | uint8_t KML_DocumentOpen(int8_t *name, KML_Document_t *doc) |
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| 118 | { |
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| 119 | |||
| 120 | uint8_t retvalue = 0; |
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| 121 | |||
| 122 | if(doc == NULL) return(0); |
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| 123 | |||
| 124 | KML_DocumentInit(doc); // intialize the document with resetvalues |
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| 125 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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| 126 | |||
| 127 | if(doc->file != NULL) // could the file be opened? |
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| 128 | { |
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| 129 | retvalue = 1; // the document could be created on the drive. |
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| 130 | doc->state = KML_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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| 131 | fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML-header to the document. |
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| 132 | } |
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| 133 | |||
| 134 | return(retvalue); |
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| 135 | } |
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| 136 | |||
| 137 | //________________________________________________________________________________________________________________________________________ |
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| 138 | // Function: DocumentClose(KML_Document_t *doc); |
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| 139 | // |
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| 140 | // Description: This function closes the document specified by doc. |
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| 141 | // |
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| 142 | // |
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| 143 | // Returnvalue: '1' if the KML- file could be closed. |
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| 144 | //________________________________________________________________________________________________________________________________________ |
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| 145 | |||
| 146 | uint8_t KML_DocumentClose(KML_Document_t *doc) |
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| 147 | { |
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| 148 | |||
| 149 | uint8_t retvalue = 1; |
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| 150 | |||
| 151 | if(doc == NULL) return(0); |
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| 152 | |||
| 153 | while(doc->state != KML_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
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| 154 | { |
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| 155 | switch(doc->state) |
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| 156 | { |
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| 157 | case KML_DOC_LINESTRING_OPENED: |
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| 158 | KML_LineStringEnd(doc); // write terminating tag to end linestring. |
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| 159 | break; |
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| 160 | |||
| 161 | case KML_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
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| 162 | KML_PlaceMarkClose(doc); |
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| 163 | break; |
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| 164 | |||
| 165 | case KML_DOC_OPENED: // close the file on the memorycard |
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| 166 | if(doc->file != NULL) |
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| 167 | { |
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| 168 | fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
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| 169 | fclose_(doc->file); |
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| 170 | retvalue = 1; |
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| 171 | } |
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| 172 | doc->state = KML_DOC_CLOSED; |
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| 173 | break; |
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| 174 | |||
| 175 | default: |
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| 176 | doc->state = KML_DOC_CLOSED; |
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| 177 | break; |
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| 178 | |||
| 179 | } |
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| 180 | } |
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| 181 | return(retvalue); |
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| 182 | } |
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| 183 | |||
| 184 | //________________________________________________________________________________________________________________________________________ |
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| 185 | // Function: u8 KML_PlaceMarkOpen(KML_Document_t *doc); |
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| 186 | // |
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| 187 | // Description: This function adds a placemark to the document. |
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| 188 | // |
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| 189 | // |
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| 190 | // Returnvalue: '1' if the PlaceMark could be opened |
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| 191 | //________________________________________________________________________________________________________________________________________ |
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| 192 | |||
| 193 | uint8_t KML_PlaceMarkOpen(KML_Document_t *doc) |
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| 194 | { |
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| 195 | uint8_t retvalue = 0; |
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| 196 | if(doc->state == KML_DOC_OPENED) |
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| 197 | { |
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| 198 | if(doc->file != NULL) |
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| 199 | { |
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| 200 | doc->state = KML_DOC_PLACEMARK_OPENED; |
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| 201 | retvalue = 1; |
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| 202 | fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
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| 203 | } |
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| 204 | } |
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| 205 | return(retvalue); |
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| 206 | } |
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| 207 | |||
| 208 | //________________________________________________________________________________________________________________________________________ |
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| 209 | // Function: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
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| 210 | // |
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| 211 | // Description: This function ends the placemark opened before. |
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| 212 | // |
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| 213 | // |
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| 214 | // Returnvalue: 1' if the PlaceMark could be closed |
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| 215 | //________________________________________________________________________________________________________________________________________ |
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| 216 | |||
| 217 | uint8_t KML_PlaceMarkClose(KML_Document_t *doc) |
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| 218 | { |
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| 219 | |||
| 220 | uint8_t retvalue = 0; // close the Placemark-tag of the corosponding document. |
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| 221 | |||
| 222 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
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| 223 | { |
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| 224 | if(doc->file != NULL) |
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| 225 | { |
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| 226 | doc->state = KML_DOC_OPENED; |
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| 227 | fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
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| 228 | retvalue = 1; |
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| 229 | } |
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| 230 | } |
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| 231 | |||
| 232 | return(retvalue); |
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| 233 | } |
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| 234 | |||
| 235 | //________________________________________________________________________________________________________________________________________ |
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| 236 | // Function: u8 LineStringBegin(KML_Document_t *doc); |
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| 237 | // |
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| 238 | // Description: This function ends the placemark opened before. |
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| 239 | // |
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| 240 | // |
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| 241 | // Returnvalue: '1' if the LineString could be started |
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| 242 | //________________________________________________________________________________________________________________________________________ |
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| 243 | |||
| 244 | uint8_t KML_LineStringBegin(KML_Document_t *doc) |
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| 245 | { |
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| 246 | |||
| 247 | uint8_t retvalue = 0; |
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| 248 | |||
| 249 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
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| 250 | { |
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| 251 | if(doc->file != NULL) |
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| 252 | { |
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| 253 | doc->state = KML_DOC_LINESTRING_OPENED; |
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| 254 | fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
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| 255 | retvalue = 1; |
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| 256 | } |
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| 257 | } |
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| 258 | return(retvalue); |
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| 259 | } |
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| 260 | |||
| 261 | //________________________________________________________________________________________________________________________________________ |
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| 262 | // Function: u8 KML_LineStringEnd(KML_Document_t *doc) |
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| 263 | // |
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| 264 | // Description: This function ends the placemark opened before. |
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| 265 | // |
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| 266 | // |
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| 267 | // Returnvalue: '1' if the LineString could be terminated |
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| 268 | //________________________________________________________________________________________________________________________________________ |
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| 269 | |||
| 270 | uint8_t KML_LineStringEnd(KML_Document_t *doc) |
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| 271 | { |
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| 272 | |||
| 273 | uint8_t retvalue = 0; |
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| 274 | |||
| 275 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
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| 276 | { |
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| 277 | if(doc->file != NULL) |
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| 278 | { |
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| 279 | doc->state = KML_DOC_PLACEMARK_OPENED; |
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| 280 | fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
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| 281 | retvalue = 1; |
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| 282 | } |
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| 283 | } |
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| 284 | return(retvalue); |
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| 285 | } |
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| 286 | |||
| 287 | //________________________________________________________________________________________________________________________________________ |
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| 288 | // Function: u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc) |
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| 289 | // |
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| 290 | // Description: This function adds a point to the specified document. |
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| 291 | // |
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| 292 | // |
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| 293 | // Returnvalue: '1' if a ppoint was added could be started |
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| 294 | //________________________________________________________________________________________________________________________________________ |
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| 295 | |||
| 296 | uint8_t KML_LineStringAddPoint(KML_Document_t *doc) |
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| 297 | { |
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| 298 | |||
| 299 | uint8_t retvalue = 0; |
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| 300 | int8_t string[50]; |
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| 414 | joko | 301 | // int32_t rel_altitude = 0; |
| 406 | joko | 302 | |
| 303 | if(doc == NULL) return(0); |
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| 304 | |||
| 305 | //if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
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| 306 | { |
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| 307 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
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| 308 | { |
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| 309 | if(doc->file != NULL) |
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| 310 | { |
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| 414 | joko | 311 | int16_t i1, i2, i3; |
| 406 | joko | 312 | uint8_t sign; |
| 313 | if(GPSData.Position.Longitude < 0) sign = '-'; |
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| 314 | else sign = '+'; |
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| 417 | killagreg | 315 | i1 = abs((int16_t)(GPSData.Position.Longitude/10000000L)); |
| 414 | joko | 316 | i2 = abs((int16_t)((GPSData.Position.Longitude%10000000L)/10000L)); |
| 317 | i3 = abs((int16_t)(((GPSData.Position.Longitude%10000000L)%10000L)/10L)); |
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| 415 | killagreg | 318 | sprintf(string,"\r\n%c%d.%.3d%.3d,",sign, i1, i2, i3); |
| 406 | joko | 319 | fputs_(string, doc->file); |
| 320 | if(GPSData.Position.Latitude < 0) sign = '-'; |
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| 321 | else sign = '+'; |
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| 418 | killagreg | 322 | i1 = abs((int16_t)(GPSData.Position.Latitude/10000000L)); |
| 414 | joko | 323 | i2 = abs((int16_t)((GPSData.Position.Latitude%10000000L)/10000L)); |
| 324 | i3 = abs((int16_t)(((GPSData.Position.Latitude%10000000L)%10000L)/10L)); |
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| 415 | killagreg | 325 | sprintf(string,"%c%d.%.3d%.3d,",sign, i1, i2, i3); |
| 406 | joko | 326 | fputs_(string, doc->file); |
| 415 | killagreg | 327 | sign = '+'; |
| 328 | sprintf(string,"%c%d.%.3d",sign, 0, 0); |
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| 414 | joko | 329 | fputs_(string, doc->file); |
| 406 | joko | 330 | retvalue = 1; |
| 331 | } |
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| 332 | } |
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| 333 | } |
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| 334 | |||
| 335 | return(retvalue); |
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| 336 | } |
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| 337 | |||
| 338 | //________________________________________________________________________________________________________________________________________ |
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| 339 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
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| 340 | // |
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| 341 | // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
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| 342 | // |
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| 343 | // |
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| 344 | // Returnvalue: '1' if an gps coordinate was logged |
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| 345 | //________________________________________________________________________________________________________________________________________ |
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| 346 | |||
| 347 | uint8_t KML_LoggGPSCoordinates(KML_Document_t *doc) |
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| 348 | { |
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| 349 | uint8_t retval = 0; |
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| 350 | while(doc->state != KML_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
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| 351 | { |
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| 352 | switch(doc->state) |
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| 353 | { |
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| 354 | case KML_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
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| 355 | retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
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| 356 | break; |
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| 357 | |||
| 358 | case KML_DOC_OPENED: // if a document has been opened before but no placemark exists: |
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| 359 | retval = KML_PlaceMarkOpen(doc); |
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| 360 | break; |
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| 361 | |||
| 362 | case KML_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
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| 363 | retval = KML_LineStringBegin(doc); |
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| 364 | break; |
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| 365 | |||
| 366 | default: |
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| 367 | retval = 0; |
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| 368 | break; |
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| 369 | |||
| 370 | } |
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| 371 | if(retval != 1) return(retval); // stop on error |
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| 372 | } |
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| 373 | |||
| 374 | if(doc->state == KML_DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
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| 375 | { |
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| 376 | retval = KML_LineStringAddPoint(doc); |
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| 377 | } |
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| 378 | return(retval); |
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| 379 | } |
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| 380 |