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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <stdio.h> |
| #include "91x_lib.h" |
| #include "kml.h" |
| #include "kml_header.h" |
| |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Module name: kml.c |
| // Compiler used: avr-gcc 3.4.5 |
| // Last Modifikation: 20.07.2008 |
| // Version: 1.02 |
| // Authors: Stephan Busker |
| // Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
| // Copyright (C) 2007 Stephan Busker |
| //........................................................................................................................................ |
| // 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 |
| // extern u8 KML_DocumentInit(KML_Document_t *doc) // initializes the kml-document to resetvalues. |
| // extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml document. A filename can be specified. |
| // extern u8 KML_DocumentClose(KML_Document_t *doc); // closes an open document |
| // extern u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *); // opens a new placemark within the specified document |
| // extern u8 KML_PlaceMarkClose( KML_Document_t *); // Closes the placemark |
| // extern u8 KML_LineStringBegin(KML_Document_t *); // begins a new line within the actual placemark |
| // extern u8 KML_LineStringEnd(KML_Document_t *doc); // ends the actual linestring |
| // extern u8 KML_LineStringAddPoint(struct str_gps_nav_data, KML_Document_t *); // adds a new point (gps-coordinates) to the actual linestring |
| //........................................................................................................................................ |
| // ext. functions: |
| // |
| //........................................................................................................................................ |
| // |
| // URL: www.Mikro-Control.de |
| // mailto: stephan.busker@mikro-control.de |
| //________________________________________________________________________________________________________________________________________ |
| |
| |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: KML_DocumentInit(KML_Document_t *) |
| // |
| // Description: This function initializes the kml-document for further use. |
| // |
| // |
| // Returnvalue: '1' if document was initialized |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_DocumentInit(KML_Document_t *doc) |
| { |
| doc->name[0] = 0; // name of the document |
| doc->state = DOC_CLOSED; // state of the kml-document |
| doc->file = NULL; |
| doc->place.name[0]=0; |
| doc->place.description[0]=0; |
| return(1); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: KML_Document_Open(void); |
| // |
| // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
| // |
| // |
| // Returnvalue: '1' if the KML- file could be created. |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_DocumentOpen(s8 *name, KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| |
| if(doc == NULL) return(0); |
| |
| KML_DocumentInit(doc); // intialize the document with resetvalues |
| doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
| |
| if(doc->file != NULL) // could the file be opened? |
| { |
| retvalue = 1; // the document could be created on the drive. |
| doc->state = DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
| fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML- footer to the document. |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: DocumentClose(KML_Document_t *doc); |
| // |
| // Description: This function closes the document specified by doc. |
| // |
| // |
| // Returnvalue: '1' if the KML- file could be closed. |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_DocumentClose(KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 1; |
| |
| if(doc == NULL) return(0); |
| |
| while(doc->state != DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
| { |
| switch(doc->state) |
| { |
| case DOC_LINESTRING_OPENED: |
| KML_LineStringEnd(doc); // write terminating tag to end linestring. |
| doc->state = DOC_PLACEMARK_OPENED; |
| break; |
| |
| case DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
| KML_PlaceMarkClose(doc); |
| doc->state = DOC_OPENED; |
| break; |
| |
| case DOC_OPENED: // close the file on the memorycard |
| if(doc->file != NULL) |
| { |
| fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
| fclose_(doc->file); |
| retvalue = 1; |
| } |
| doc->state = DOC_CLOSED; |
| break; |
| |
| default: |
| doc->state = DOC_CLOSED; |
| break; |
| |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 PlaceMarkOpen(s8 *name, File *file); |
| // |
| // Description: This function adds a placemark to the document. |
| // |
| // |
| // Returnvalue: '1' if the PlaceMark could be opened |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| |
| if(doc->file != NULL) |
| { |
| doc->state = DOC_PLACEMARK_OPENED; |
| retvalue = 1; |
| fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: 1' if the PlaceMark could be closed |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_PlaceMarkClose(KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
| |
| if(doc->state == DOC_PLACEMARK_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = DOC_OPENED; |
| fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 LineStringBegin(KML_Document_t *doc); |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: '1' if the LineString could be started |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_LineStringBegin(KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| |
| if(doc->file != NULL) |
| { |
| doc->state = DOC_LINESTRING_OPENED; |
| fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 LineStringEnd(KML_Document_t *doc) |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: '1' if the LineString could be terminated |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_LineStringEnd(KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| |
| if(doc->state == DOC_LINESTRING_OPENED); |
| if(doc->file != NULL) |
| { |
| doc->state = DOC_PLACEMARK_OPENED; |
| fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc) |
| // |
| // Description: This function adds a point to the specified document. |
| // |
| // |
| // Returnvalue: '1' if a ppoint was added could be started |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_LineStringAddPoint(GPS_Pos_t * pGPS_Position ,KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| s8 string[50]; |
| s32 rel_altitude = 0; |
| |
| if(doc == NULL || pGPS_Position == NULL) return(0); |
| |
| if((pGPS_Position->Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
| { |
| if(doc->state == DOC_LINESTRING_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| s32 i1, i2; |
| u8 sign; |
| if(pGPS_Position->Longitude < 0) sign = '-'; |
| else sign = '+'; |
| i1 = abs(pGPS_Position->Longitude)/10000000L; |
| i2 = abs(pGPS_Position->Longitude)%10000000L; |
| sprintf(string,"\r\n%c%ld.%07ld,",sign, i1, i2); |
| fputs_(string, doc->file); |
| if(pGPS_Position->Latitude < 0) sign = '-'; |
| else sign = '+'; |
| i1 = abs(pGPS_Position->Latitude)/10000000L; |
| i2 = abs(pGPS_Position->Latitude)%10000000L; |
| sprintf(string,"%c%ld.%07ld,",sign, i1, i2); |
| fputs_(string, doc->file); |
| // calculate relative altitude with respect to the altitude of the home position |
| rel_altitude = pGPS_Position->Altitude - GPS_HomePosition.Altitude; |
| if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
| i1 = rel_altitude/1000L; |
| i2 = rel_altitude%1000L; |
| sprintf(string," %ld.%03ld",i1, i2); |
| fputs_(string, doc->file); |
| retvalue = 1; |
| } |
| } |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
| // |
| // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
| // |
| // |
| // Returnvalue: '1' if an gps coordinate was logged |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_LoggGPSCoordinates(GPS_Pos_t* pGPS_Position, KML_Document_t *doc) |
| { |
| u8 retval = 0; |
| while(doc->state != DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
| { |
| switch(doc->state) |
| { |
| case DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
| KML_DocumentInit(doc); // initialize the document to default values |
| retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
| if(retval) |
| { |
| doc->state = DOC_OPENED; |
| } |
| break; |
| |
| case DOC_OPENED: // if a document has been opened before but no placemark exists: |
| retval = KML_PlaceMarkOpen("MIKROKOPTER",doc); |
| if(retval) |
| { |
| doc->state = DOC_PLACEMARK_OPENED; // add a placemark to the document. |
| } |
| break; |
| |
| case DOC_PLACEMARK_OPENED: // add linestring to the placemark |
| retval = KML_LineStringBegin(doc); |
| if(retval) |
| { |
| doc->state = DOC_LINESTRING_OPENED; |
| } |
| break; |
| |
| default: |
| retval = 1; |
| break; |
| |
| } |
| if(retval != 1) return(retval); // stop on error |
| } |
| |
| if(doc->state == DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
| { |
| retval = KML_LineStringAddPoint(pGPS_Position, doc); |
| } |
| return(retval); |
| } |
| |