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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 "main.h" |
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60 | #include "kml.h" |
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61 | #include "kml_header.h" |
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62 | |||
63 | |||
64 | //________________________________________________________________________________________________________________________________________ |
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65 | // Module name: kml.c |
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66 | // Compiler used: avr-gcc 3.4.5 |
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67 | // Last Modifikation: 22.03.2009 |
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68 | // Version: 1.03 |
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69 | // Authors: Stephan Busker, Gregor Stobrawa |
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70 | // Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
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71 | // Copyright (C) 2007 Stephan Busker |
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72 | //........................................................................................................................................ |
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73 | // 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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74 | // extern u8 KML_DocumentInit(KML_Document_t *doc) // initializes the kml-document to resetvalues. |
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75 | // extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml document. A filename can be specified. |
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76 | // extern u8 KML_DocumentClose(KML_Document_t *doc); // closes an open document |
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77 | // extern u8 KML_PlaceMarkOpen(KML_Document_t *); // opens a new placemark within the specified document |
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78 | // extern u8 KML_PlaceMarkClose(KML_Document_t *); // Closes the placemark |
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79 | // extern u8 KML_LineStringBegin(KML_Document_t *); // begins a new line within the actual placemark |
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80 | // extern u8 KML_LineStringEnd(KML_Document_t *doc); // ends the actual linestring |
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81 | // 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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82 | //........................................................................................................................................ |
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83 | // ext. functions: |
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84 | // |
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85 | //........................................................................................................................................ |
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86 | // |
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87 | // URL: www.Mikro-Control.de |
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88 | // mailto: stephan.busker@mikro-control.de |
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89 | //________________________________________________________________________________________________________________________________________ |
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90 | |||
91 | |||
92 | |||
93 | //________________________________________________________________________________________________________________________________________ |
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94 | // Function: KML_DocumentInit(KML_Document_t *) |
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95 | // |
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96 | // Description: This function initializes the kml-document for further use. |
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97 | // |
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98 | // |
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99 | // Returnvalue: '1' if document was initialized |
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100 | //________________________________________________________________________________________________________________________________________ |
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101 | |||
102 | uint8_t KML_DocumentInit(KML_Document_t *doc) |
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103 | { |
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104 | doc->state = KML_DOC_CLOSED; // state of the kml-document |
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105 | doc->file = NULL; |
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106 | return(1); |
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107 | } |
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108 | |||
109 | //________________________________________________________________________________________________________________________________________ |
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110 | // Function: KML_Document_Open(void); |
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111 | // |
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112 | // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
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113 | // |
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114 | // |
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115 | // Returnvalue: '1' if the KML- file could be created. |
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116 | //________________________________________________________________________________________________________________________________________ |
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117 | |||
118 | uint8_t KML_DocumentOpen(int8_t *name, KML_Document_t *doc) |
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119 | { |
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120 | |||
121 | uint8_t retvalue = 0; |
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122 | |||
123 | if(doc == NULL) return(0); |
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124 | |||
125 | KML_DocumentInit(doc); // intialize the document with resetvalues |
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126 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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127 | |||
128 | if(doc->file != NULL) // could the file be opened? |
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129 | { |
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130 | retvalue = 1; // the document could be created on the drive. |
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131 | doc->state = KML_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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132 | fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML-header to the document. |
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133 | } |
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134 | |||
135 | return(retvalue); |
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136 | } |
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137 | |||
138 | //________________________________________________________________________________________________________________________________________ |
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139 | // Function: DocumentClose(KML_Document_t *doc); |
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140 | // |
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141 | // Description: This function closes the document specified by doc. |
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142 | // |
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143 | // |
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144 | // Returnvalue: '1' if the KML- file could be closed. |
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145 | //________________________________________________________________________________________________________________________________________ |
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146 | |||
147 | uint8_t KML_DocumentClose(KML_Document_t *doc) |
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148 | { |
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149 | |||
150 | uint8_t retvalue = 1; |
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151 | |||
152 | if(doc == NULL) return(0); |
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153 | |||
154 | while(doc->state != KML_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
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155 | { |
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156 | switch(doc->state) |
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157 | { |
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158 | case KML_DOC_LINESTRING_OPENED: |
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159 | KML_LineStringEnd(doc); // write terminating tag to end linestring. |
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160 | break; |
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161 | |||
162 | case KML_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
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163 | KML_PlaceMarkClose(doc); |
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164 | break; |
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165 | |||
166 | case KML_DOC_OPENED: // close the file on the memorycard |
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167 | if(doc->file != NULL) |
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168 | { |
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169 | fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
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170 | fclose_(doc->file); |
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171 | retvalue = 1; |
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172 | } |
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173 | doc->state = KML_DOC_CLOSED; |
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174 | break; |
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175 | |||
176 | default: |
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177 | doc->state = KML_DOC_CLOSED; |
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178 | break; |
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179 | |||
180 | } |
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181 | } |
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182 | return(retvalue); |
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183 | } |
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184 | |||
185 | //________________________________________________________________________________________________________________________________________ |
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186 | // Function: u8 KML_PlaceMarkOpen(KML_Document_t *doc); |
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187 | // |
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188 | // Description: This function adds a placemark to the document. |
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189 | // |
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190 | // |
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191 | // Returnvalue: '1' if the PlaceMark could be opened |
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192 | //________________________________________________________________________________________________________________________________________ |
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193 | |||
194 | uint8_t KML_PlaceMarkOpen(KML_Document_t *doc) |
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195 | { |
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196 | uint8_t retvalue = 0; |
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197 | if(doc->state == KML_DOC_OPENED) |
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198 | { |
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199 | if(doc->file != NULL) |
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200 | { |
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201 | doc->state = KML_DOC_PLACEMARK_OPENED; |
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202 | retvalue = 1; |
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203 | fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
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204 | } |
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205 | } |
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206 | return(retvalue); |
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207 | } |
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208 | |||
209 | //________________________________________________________________________________________________________________________________________ |
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210 | // Function: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
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211 | // |
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212 | // Description: This function ends the placemark opened before. |
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213 | // |
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214 | // |
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215 | // Returnvalue: 1' if the PlaceMark could be closed |
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216 | //________________________________________________________________________________________________________________________________________ |
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217 | |||
218 | uint8_t KML_PlaceMarkClose(KML_Document_t *doc) |
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219 | { |
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220 | |||
221 | uint8_t retvalue = 0; // close the Placemark-tag of the corosponding document. |
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222 | |||
223 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
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224 | { |
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225 | if(doc->file != NULL) |
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226 | { |
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227 | doc->state = KML_DOC_OPENED; |
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228 | fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
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229 | retvalue = 1; |
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230 | } |
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231 | } |
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232 | |||
233 | return(retvalue); |
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234 | } |
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235 | |||
236 | //________________________________________________________________________________________________________________________________________ |
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237 | // Function: u8 LineStringBegin(KML_Document_t *doc); |
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238 | // |
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239 | // Description: This function ends the placemark opened before. |
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240 | // |
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241 | // |
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242 | // Returnvalue: '1' if the LineString could be started |
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243 | //________________________________________________________________________________________________________________________________________ |
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244 | |||
245 | uint8_t KML_LineStringBegin(KML_Document_t *doc) |
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246 | { |
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247 | |||
248 | uint8_t retvalue = 0; |
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249 | |||
250 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
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251 | { |
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252 | if(doc->file != NULL) |
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253 | { |
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254 | doc->state = KML_DOC_LINESTRING_OPENED; |
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255 | fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
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256 | retvalue = 1; |
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257 | } |
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258 | } |
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259 | return(retvalue); |
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260 | } |
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261 | |||
262 | //________________________________________________________________________________________________________________________________________ |
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263 | // Function: u8 KML_LineStringEnd(KML_Document_t *doc) |
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264 | // |
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265 | // Description: This function ends the placemark opened before. |
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266 | // |
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267 | // |
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268 | // Returnvalue: '1' if the LineString could be terminated |
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269 | //________________________________________________________________________________________________________________________________________ |
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270 | |||
271 | uint8_t KML_LineStringEnd(KML_Document_t *doc) |
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272 | { |
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273 | |||
274 | uint8_t retvalue = 0; |
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275 | |||
276 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
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277 | { |
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278 | if(doc->file != NULL) |
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279 | { |
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280 | doc->state = KML_DOC_PLACEMARK_OPENED; |
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281 | fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
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282 | retvalue = 1; |
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283 | } |
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284 | } |
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285 | return(retvalue); |
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286 | } |
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287 | |||
288 | //________________________________________________________________________________________________________________________________________ |
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289 | // Function: u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc) |
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290 | // |
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291 | // Description: This function adds a point to the specified document. |
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292 | // |
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293 | // |
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294 | // Returnvalue: '1' if a ppoint was added could be started |
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295 | //________________________________________________________________________________________________________________________________________ |
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296 | |||
297 | uint8_t KML_LineStringAddPoint(KML_Document_t *doc) |
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298 | { |
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299 | |||
300 | uint8_t retvalue = 0; |
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301 | int8_t string[50]; |
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414 | joko | 302 | // int32_t rel_altitude = 0; |
406 | joko | 303 | |
304 | if(doc == NULL) return(0); |
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305 | |||
306 | //if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
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307 | { |
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308 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
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309 | { |
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310 | if(doc->file != NULL) |
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311 | { |
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414 | joko | 312 | int16_t i1, i2, i3; |
406 | joko | 313 | uint8_t sign; |
314 | if(GPSData.Position.Longitude < 0) sign = '-'; |
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315 | else sign = '+'; |
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414 | joko | 316 | i1 = (int16_t)(GPSData.Position.Longitude/10000000L); |
317 | i2 = abs((int16_t)((GPSData.Position.Longitude%10000000L)/10000L)); |
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318 | i3 = abs((int16_t)(((GPSData.Position.Longitude%10000000L)%10000L)/10L)); |
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319 | sprintf(string,"\r\n%c%d.%.3d%",sign, i1, i2, i3); |
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406 | joko | 320 | fputs_(string, doc->file); |
321 | if(GPSData.Position.Latitude < 0) sign = '-'; |
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322 | else sign = '+'; |
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414 | joko | 323 | i1 = (int16_t)(GPSData.Position.Latitude/10000000L); |
324 | i2 = abs((int16_t)((GPSData.Position.Latitude%10000000L)/10000L)); |
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325 | i3 = abs((int16_t)(((GPSData.Position.Latitude%10000000L)%10000L)/10L)); |
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326 | sprintf(string,"\r\n%c%d.%.3d%",sign, i1, i2, i3); |
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406 | joko | 327 | fputs_(string, doc->file); |
414 | joko | 328 | sprintf(string,"\r\n%c%d.%.3d%",0.0 ); |
329 | fputs_(string, doc->file); |
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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 |