| 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #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" |
| |
| // 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; |
| |
| 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); |
| } |
| |
| #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); |
| } |
| |