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#!/usr/bin/perl

#!/usr/bin/perl -d:ptkdb

###############################################################################

#

# logging.pl -  CSV, KLM, GPS Logging

#

# Copyright (C) 2009  Rainer Walther  (rainerwalther-mail@web.de)

#

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#

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# Weitere Details zur Lizenzbestimmung gibt es hier:

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#

###############################################################################

#

# 2009-02-23 0.0.1 rw created

# 2009-04-01 0.1.0 rw RC1

# 2009-05-01 0.1.1 rw configurable logging interval

# 2009-05-17 0.1.7 rw _Timestamp timeout von 2s auf 10s erhoeht

# 2009-09-30 0.1.8 rw SignalHandler removed

# 2010-01-23 0.1.9 rw kosmetics

#                     no logging, if simulator is active

# 2010-06-24 0.5.0 rw GPX logging match MK format

#

###############################################################################

$Version{'logging.pl'} = "0.5.0 - 2010-06-24";

#

# Parameter

#

my $LoopTime = $Cfg->{'logging'}->{'Intervall'} || 1;  # in s

$LoopTime *= 1000000;      # in us

# Packages

use threads;                 # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm

                             # http://perldoc.perl.org/threads.html

use threads::shared;         # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm

use Thread::Queue;           # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm

use Time::HiRes qw(usleep);

require "mkcomm.pl";     # MK communication

require "geserver.pl";   # Google Earth Server

require "translate.pl";  # Übersetzungstable

# Queue for receiving commands

$LogQueue = Thread::Queue->new();

my $LogState = "LOG";        # LOG, OFF

my $LogCsvIsOpen = 0;

my $LogKmlIsOpen = 0;

my $LogGpxIsOpen = 0;

my $GeServerIsRunning = 0;

#

# CSV

#

# Open CSV logfile

sub LogCsvOpen()

    {

    if ( ! $LogCsvIsOpen )

        {      

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time);

        my $Filename = sprintf ("mk-%04d%02d%02d-%02d%02d%02d.csv", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        open LOGCSV, ">$Cfg->{'logging'}->{'CsvLogDir'}/$Filename";

        # print labes at first line

        # wait for hash labels

        while ( $MkOsd{'_Timestamp'} eq ""  or  $MkNcDebug{'_Timestamp'} eq "" )

            {

            sleep 1;

            }

        # NC OSD

        my $Sep = "";

        foreach $Label (sort keys %MkOsd)

            {

            if ( $Translate{$Label} ne "" )

                {

                $Label = $Translate{$Label};

                }

            print LOGCSV "$Sep" . "$Label";

            $Sep = ",";

            }

        # NC Debug

        foreach $Label (sort keys %MkNcDebug)

            {

            if ( $Translate{$Label} ne "" )

                {

                $Label = $Translate{$Label};

                }

            print LOGCSV "$Sep" . "$Label";

            }

        print LOGCSV "\n";

        $LogCsvIsOpen = 1;

        }

    return 0;

    }

# Close CSV

sub LogCsvClose()

    {

    if ( $LogCsvIsOpen )

        {

        close LOGCSV;

        $LogCsvIsOpen = 0;

        }

    return 0;

    }  

# Log CSV

sub LogCsv()

    {

    lock %MkOsd;      # until end of Block

    lock %MkNcDebug;  # until end of Block

    if ( $MkOsd{'_Timestamp'} >= time-10 )

        {

        # active connection to MK

        &LogCsvOpen();

        # NC OSD

        my $Sep = "";

        foreach $Label (sort keys %MkOsd)

            {

            print LOGCSV "$Sep" . "$MkOsd{$Label}";

            $Sep = ",";

            }

        # NC Debug

        foreach $Label (sort keys %MkNcDebug)

            {

            print LOGCSV "$Sep" . "$MkNcDebug{$Label}";

            }

        print LOGCSV "\n";

        }

    else

        {

        # connection to MK lost, close Logfile

        &LogCsvClose();

        }

    return 0;

    }

#

# GPX

# http://www.topografix.com/gpx_manual.asp

#

# Open GPX logfile

sub LogGpxOpen()

    {

    if ( ! $LogGpxIsOpen )

        {

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time);

        my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        my $Filename = "mk-" . $TimeStamp . ".gpx";

        open LOGGPX, ">$Cfg->{'logging'}->{'GpxLogDir'}/$Filename";

        $LogGpxIsOpen = 1;

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time);

        my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        # print GPX-Header

        print LOGGPX <<EOF;

<?xml version="1.0" encoding="UTF-8"?>

<gpx

  version="1.0"

  creator="MK Mission Cockpit"

  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

  xmlns="http://www.topografix.com/GPX/1/0"

  xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">

  <time>${UtcTimeStamp}</time>

  <trk>

    <name>Mission Cockpit GPS logging</name>

        <desc>Flight ${TimeStamp}</desc>

    <trkseg>

EOF

        }

    return 0;

    }  

# Close GPX

sub LogGpxClose()

    {

    if ( $LogGpxIsOpen )

        {

        # print GPX-Trailer

        print LOGGPX <<EOF;

    </trkseg>

  </trk>

</gpx>

EOF

        close LOGGPX;

        $LogGpxIsOpen = 0;

        }

    return 0;

    }  

# Log GPX

sub LogGpx()

    {

    lock %MkOsd;   # until end of Block

    if ( $MkOsd{'_Timestamp'} >= time-10  and

         $MkOsd{'MKFlags'} & 0x02  and  $MkOsd{'CurPos_Stat'} == 1 )

        {

        # active connection to MK, MK is flying, valid GPS

        &LogGpxOpen();

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time);

        my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        my $Speed = $MkOsd{'GroundSpeed'} / 100;  # m/s

        my $Elevation = &Altitude();

        printf LOGGPX <<EOF;

      <trkpt lat="$MkOsd{'CurPos_Lat'}" lon="$MkOsd{'CurPos_Lon'}">

        <ele>$Elevation</ele>

        <time>${UtcTimeStamp}</time>

        <sat>$MkOsd{'SatsInUse'}</sat>

        <course>$MkOsd{'CompassHeading'}</course>

        <speed>$Speed</speed>

        <extensions>

          <Altimeter>$MkOsd{'Altimeter'}</Altimeter>

          <Variometer>$MkOsd{'Variometer'}</Variometer>

          <Course>$MkOsd{'Heading'}</Course>

          <GroundSpeed>$MkOsd{'GroundSpeed'}</GroundSpeed>

          <VerticalSpeed>$MkOsd{'TopSpeed'}</VerticalSpeed>

          <FlightTime>$MkOsd{'FlyingTime'}</FlightTime>

          <Voltage>$MkOsd{'UBat'}</Voltage>

          <Current>$MkOsd{'Current'}</Current>

          <Capacity>$MkOsd{'UsedCapacity'}</Capacity>

          <RCQuality>$MkOsd{'RC_Quality'}</RCQuality>

          <RCRSSI>$MkOsd{'RC_RSSI'}</RCRSSI>

          <Compass>$MkOsd{'CompassHeading'}</Compass>

          <NickAngle>$MkOsd{'AngleNick'}</NickAngle>

          <RollAngle>$MkOsd{'AngleRoll'}</RollAngle>

          <NCFlag>$MkOsd{'NCFlags'}</NCFlag>

          <MKFlag>$MkOsd{'MKFlags'}</MKFlag>

          <ErrorCode>$MkOsd{'ErrorCode'}</ErrorCode>

          <TargetLat>$MkOsd{'TargetPos_Lat'}</TargetLat>

          <TargetLon>$MkOsd{'TargetPos_Lon'}</TargetLon>

          <TargetAlt>$MkOsd{'TargetPos_Alt'}</TargetAlt>

          <TargetBearing>$MkOsd{'TargetPosDev_Bearing'}</TargetBearing>

          <TargetDistance>$MkOsd{'TargetPosDev_Dist'}</TargetDistance>

          <Waypoint>$MkOsd{'WaypointIndex'} / $MkOsd{'WaypointNumber'}</Waypoint>

          <RCSticks>0, 0, 0</RCSticks>

          <GPSSticks>0, 0, 0</GPSSticks>

        </extensions>

      </trkpt>         

EOF

        }

    else

        {

        &LogGpxClose();

        }

    }

#

# KML

# http://code.google.com/intl/de-DE/apis/kml/documentation/kml_tut.html

#

# Open KML logfile

sub LogKmlOpen()

    {

    if ( ! $LogKmlIsOpen )

        {      

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time);

        my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        my $Filename = "mk-" . $TimeStamp . ".kml";

        open LOGKML, ">$Cfg->{'logging'}->{'KmlLogDir'}/$Filename";

        $LogKmlIsOpen = 1;

        # print KML-Header

        print LOGKML <<EOF;

<?xml version="1.0" encoding="UTF-8"?>

<kml xmlns="http://earth.google.com/kml/2.2">

  <Document>

    <name>Mission Cockpit GPS logging</name>

    <Style id="MK_gps-style">

      <LineStyle>

        <color>ff0000ff</color>

        <width>2</width>

      </LineStyle>

    </Style>

    <Placemark>

      <name>Flight ${TimeStamp}</name>

      <styleUrl>MK_gps-style</styleUrl>

      <LineString>

        <tessellate>1</tessellate>

        <altitudeMode>relativeToGround</altitudeMode>

        <coordinates>

EOF

        }

    return 0;

    }  

# Close KML

sub LogKmlClose()

    {

    if ( $LogKmlIsOpen )

        {

        # print KML-Trailer

        print LOGKML <<EOF;

        </coordinates>

      </LineString>

    </Placemark>

  </Document>

</kml>

EOF

        close LOGKML;

        $LogKmlIsOpen = 0;

        }

    return 0;

    }  

# Log KML

sub LogKml()

    {

    lock %MkOsd;   # until end of Block

    if ( $MkOsd{'_Timestamp'} >= time-10  and

         $MkOsd{'MKFlags'} & 0x02  and  $MkOsd{'CurPos_Stat'} == 1 )

        {

        # active connection to MK, MK is flying, valid GPS

        &LogKmlOpen();

        my $Alt = &Altitude();

        if ( $Alt < 0 ) { $Alt = 0; }

        printf LOGKML "          %f, %f, %f\n", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $Alt;

        }

    else

        {

        &LogKmlClose();

        }

    }

# Send Coords to GoogleEarth server

sub Send2GeServer()

    {

    lock %MkOsd;   # until end of Block

    if ( $MkOsd{'_Timestamp'} >= time-10  and

         $MkOsd{'MKFlags'} & 0x02  and  $MkOsd{'CurPos_Stat'} == 1 )

        {

        # active connection to MK, MK is flying, valid GPS

        my $AltRel = $MkOsd{'CurPos_Alt'} - $MkOsd{'HomePos_Alt'};

        if ( $AltRel < 0 ) { $AltRel = 0; }

        push @GeCoords, sprintf "%f, %f, %f", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $AltRel;

        }

    }

sub MkLogLoop()

    {

    while (1)

        {

        # check commnd queue

        if ( $LogQueue->pending() > 0 )

            {

            $LogState = $LogQueue->dequeue(1);

            }

        if ( $LogState eq "LOG" )

            {

            &LogCsv();

            &LogKml();

            &LogGpx();

            }

        &Send2GeServer();  # Google Earth

        # kurz schlafen legen

        usleep $LoopTime;

        }

    }

#

# Hauptprgramm

#       

if ( $0 =~ /logging.pl$/i )

    {

    # Program wurde direkt aufgerufen

    # Kommunikation zum MK herstellen

    $mk_thr = threads->create (\&MkCommLoop) -> detach();

    &MkLogLoop();

    # should never exit

    }

1;

__END__