53,11 → 53,14 |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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#include <ctype.h> |
#include <stdio.h> |
#include <stdlib.h> |
#include <string.h> |
#include "91x_lib.h" |
#include "waypoints.h" |
#include "uart1.h" |
#include "fat16.h" |
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// the waypoints list |
#define MAX_LIST_LEN 101 |
97,9 → 100,14 |
PointList[i].Heading = 361; // invalid value |
PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
PointList[i].Event_Flag = 0; // future implementation |
PointList[i].Index = 0; |
PointList[i].Type = POINT_TYPE_INVALID; |
PointList[i].Event_Flag = 0; // future implementation |
PointList[i].WP_EventChannelValue = 0; |
PointList[i].AltitudeRate = 0; // no change of setpoint |
PointList[i].Speed = 0; |
PointList[i].CamAngle = 0; |
PointList[i].Name[0] = 0; |
} |
return TRUE; |
} |
143,7 → 151,7 |
} |
break; |
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case POINT_TYPE_WP: // was a waypoint |
case POINT_TYPE_WP: // was a waypoint |
switch(pPoint->Type) |
{ |
case POINT_TYPE_INVALID: |
344,3 → 352,313 |
return PointList_GetAt(POIIndex); |
} |
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#define LINE_MAX 70 |
#define WP_FILE_VERSION_COMPATIBLE 3 |
// save actual point list to SD card |
u8 PointList_SaveToFile(u8 place) |
{ |
File_t *fp; |
s8 wpline[LINE_MAX], retval = 0; |
// user absolute path, i.e. leading / |
|
sprintf(wpline, "/list_%03d.wpl", place); |
|
UART1_PutString("\n\r Write "); |
UART1_PutString(wpline); |
UART1_PutString("..."); |
|
UART1_PutString("\n\r Save WPL..."); |
|
if(Fat16_IsValid()) |
{ // check if wpl file is existing |
fp = fopen_(wpline, 'w'); // try to open the file |
if(fp == NULL) |
{ |
UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
return(retval); |
} |
// Create general section and key entries |
fputs_("[General]\r\n", fp); |
sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
fputs_(wpline, fp); |
sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
fputs_(wpline, fp); |
// dump all points if existent |
if(PointCount) |
{ |
u8 i, u8_1; |
s32 i32_1, i32_2; |
|
for (i = 0; i < PointCount; i++) |
{ |
sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
fputs_(wpline, fp); |
// write latitude in deg |
if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
else u8_1 = '+'; |
i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
fputs_(wpline, fp); |
// write longitude in deg |
if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
else u8_1 = '+'; |
i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
fputs_(wpline, fp); |
// write tolerace radius in m |
sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
fputs_(wpline, fp); |
// write altitude in m |
if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
else u8_1 = '+'; |
if(PointList[i].Type == POINT_TYPE_POI) |
{ |
i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
i32_2 = abs(PointList[i].Position.Altitude)%100L; |
} |
else |
{ |
i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
i32_2 = abs(PointList[i].Position.Altitude)%10L; |
} |
sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
fputs_(wpline, fp); |
// write climb rate in 0.1 m/s |
sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
fputs_(wpline, fp); |
// write hold time in s |
sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
fputs_(wpline, fp); |
// write event channel value |
sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
fputs_(wpline, fp); |
// write heading in deg (0= nothing, neg. values index to poi) |
sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
fputs_(wpline, fp); |
// write speed in 0.1 m/s |
sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
fputs_(wpline, fp); |
// write cam angle in degree (255 -> POI-Automatic) |
sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
fputs_(wpline, fp); |
// write point type |
sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
fputs_(wpline, fp); |
// write prefix |
//if(PointList[i].Type == POINT_TYPE_WP) u8_1 = 'P'; |
//else u8_1 = '0'; |
sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
fputs_(wpline, fp); |
} // EOF loop over all points |
} // EOF if(PointCount) |
if(EOF == fclose_(fp)) |
{ |
UART1_PutString("failed!\r\n"); |
} |
else |
{ |
UART1_PutString("ok\r\n"); |
retval = 1; |
} |
} // EOF if(Fat16_IsValid()) |
UART1_PutString("no file system found!\r\n"); |
return(retval); |
} |
|
// load actual point list from SD card |
u8 PointList_ReadFromFile(u8 place) |
{ |
File_t *fp; |
s8 wpline[LINE_MAX], retval = 0; |
|
s8 *name, *value; |
u8 i; |
|
u8 IsGeneralSection = 0; |
u8 IsPointSection = 0; |
u8 WPNumber = 0; |
|
// user absolute path, i.e. leading / |
sprintf(wpline, "/list_%03d.wpl", place); |
|
UART1_PutString("\n\r Read "); |
UART1_PutString(wpline); |
UART1_PutString("..."); |
|
if(Fat16_IsValid()) |
{ // check if wpl file is existing |
fp = fopen_(wpline, 'r'); // try to open the file |
if(fp == NULL) |
{ |
UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
return(0); |
} |
// clear point list first |
PointList_Clear(); |
// read all lines from file |
while(fgets_(wpline, LINE_MAX, fp) != 0) |
{ |
if ( // ignorelines starting with \r,\n,' ',';','#' |
(wpline[0] != '\n') && |
(wpline[0] != '\r') && |
(wpline[0] != ' ' ) && |
(wpline[0] != ';' ) && |
(wpline[0] != '#' ) |
) |
{ |
// check for section line found |
if(wpline[0] == '[') |
{ |
// next section found |
IsGeneralSection = 0; |
IsPointSection = 0; |
|
name = strtok(&wpline[1], "]"); |
if(name != NULL) // if section name |
{ |
// check section type |
for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
|
if(strncmp(name, "POINT", 5) == 0) |
{ |
IsPointSection = (u8)atoi(&name[5]); |
PointCount++; |
} |
else if(strcmp(name, "GENERAL") == 0) |
{ |
IsGeneralSection = 1; |
} |
else |
{ |
UART1_PutString("Unknown section: "); |
UART1_PutString(name); |
UART1_PutString("\r\n"); |
} |
} |
} // EOF section line |
else |
{ // look for key entrys of each sections |
name = strtok(wpline, "="); // get name |
value = strtok(NULL, "="); // get value |
if ((name != NULL) && (value != NULL)) |
{ |
for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
if(IsPointSection && (IsPointSection <= WPNumber)) |
{ |
if(strcmp(name, "LATITUDE") == 0) |
{ |
PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
} |
else if(strcmp(name, "LONGITUDE") == 0) |
{ |
PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
} |
else if(strcmp(name, "RADIUS") == 0) |
{ |
PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
} |
else if(strcmp(name, "ALTITUDE") == 0) |
{ |
PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
PointList[IsPointSection-1].Position.Status = NEWDATA; |
} |
else if(strcmp(name, "CLIMBRATE") == 0) |
{ |
PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
} |
else if(strcmp(name, "DELAYTIME") == 0) |
{ |
PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
} |
else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
{ |
PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
} |
else if(strcmp(name, "HEADING") == 0) |
{ |
PointList[IsPointSection-1].Heading = (s16)atoi(value); |
} |
else if(strcmp(name, "SPEED") == 0) |
{ |
PointList[IsPointSection-1].Speed = (u8)atoi(value); |
} |
else if(strcmp(name, "CAM-NICK") == 0) |
{ |
PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
} |
else if(strcmp(name, "TYPE") == 0) |
{ |
PointList[IsPointSection-1].Type = (u8)atoi(value); |
if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
|
switch(PointList[IsPointSection-1].Type) |
{ |
case POINT_TYPE_WP: |
// this works only if altitude key is set before point type key in WPL file !! |
PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
WPCount++; |
break; |
|
case POINT_TYPE_POI: |
POICount++; |
break; |
} |
} |
else if(strcmp(name, "PREFIX") == 0) |
{ |
strncpy(PointList[IsPointSection-1].Name, value, 4); |
PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
} |
else |
{ |
UART1_PutString("Unknown key: "); |
UART1_PutString(name); |
UART1_PutString("\r\n"); |
} |
} // EOF point section |
else if(IsGeneralSection) |
{ |
if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
{ |
WPNumber = (u8)atoi(value); |
if(!WPNumber) // no waypoints in file |
{ |
return(1); // we are done here |
} |
else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
{ |
UART1_PutString("To much points!"); |
return(0); |
} |
} |
else if (strcmp(name, "FILEVERSION") == 0) |
{ |
if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
{ |
UART1_PutString("Bad file version!\r\n"); |
return(0); |
} |
} |
else |
{ |
UART1_PutString("Unknown key: "); |
UART1_PutString(name); |
UART1_PutString("\r\n"); |
} |
} // EOF general section |
} // EOF valid key entry |
} // EOF key entry line |
} // valid line |
} // EOF loop over all lines |
fclose_(fp); |
NaviData.WaypointNumber = WPCount; |
UART1_PutString("ok\r\n"); |
retval = 1; |
} // EOF if(Fat16_IsValid()) |
else UART1_PutString("no file system found!\r\n"); |
return(retval); |
} |
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