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365 | rain-er | 1 | #!/usr/bin/perl |
2 | #!/usr/bin/perl -d:ptkdb |
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3 | |||
4 | ############################################################################### |
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5 | # |
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6 | # logging.pl - CSV, KLM, GPS Logging |
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7 | # |
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8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
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9 | # |
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10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
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11 | # |
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12 | # Es ist Ihnen gestattet: |
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13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
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14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
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15 | # |
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16 | # Zu den folgenden Bedingungen: |
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17 | # * Namensnennung. |
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18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
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19 | # * Keine kommerzielle Nutzung. |
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20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
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21 | # * Weitergabe unter gleichen Bedingungen. |
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22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
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23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
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24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
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25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
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26 | # |
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27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
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28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
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29 | # |
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30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
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31 | # des Rechteinhabers dazu erhalten. |
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32 | # |
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33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
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34 | # |
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35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
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36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
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37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
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38 | # |
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39 | ############################################################################### |
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40 | # |
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41 | # 2009-02-23 0.0.1 rw created |
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42 | # 2009-04-01 0.1.0 rw RC1 |
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43 | # |
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44 | ############################################################################### |
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45 | |||
46 | $Version{'logging.pl'} = "0.1.0 - 2009-04-01"; |
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47 | |||
48 | # |
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49 | # Parameter |
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50 | # |
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51 | |||
52 | my $LoopTime = 1000000; # in us |
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53 | |||
54 | # Packages |
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55 | use threads; |
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56 | use threads::shared; |
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57 | use Time::HiRes qw(usleep); |
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58 | |||
59 | require "mkcomm.pl"; # MK communication |
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60 | require "geserver.pl"; # Google Earth Server |
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61 | require "translate.pl"; # Übersetzungstable |
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62 | |||
63 | # |
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64 | # Signal handler |
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65 | # |
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66 | |||
67 | $SIG{'INT'} = 'LogSigHandler'; |
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68 | $SIG{'KILL'} = 'LogSigHandler'; |
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69 | |||
70 | sub SigHandler() |
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71 | { |
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72 | if ( defined threads->self() ) |
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73 | { |
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74 | threads->exit(); |
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75 | } |
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76 | exit; |
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77 | } |
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78 | |||
79 | |||
80 | my $LogCsvIsOpen = 0; |
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81 | my $LogKmlIsOpen = 0; |
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82 | my $LogGpxIsOpen = 0; |
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83 | my $GeServerIsRunning = 0; |
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84 | |||
85 | # |
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86 | # CSV |
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87 | # |
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88 | |||
89 | # Open CSV logfile |
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90 | sub LogCsvOpen() |
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91 | { |
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92 | if ( ! $LogCsvIsOpen ) |
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93 | { |
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94 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time); |
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95 | my $Filename = sprintf ("mk-%04d%02d%02d-%02d%02d%02d.csv", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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96 | open LOGCSV, ">$Cfg->{'logging'}->{'CsvLogDir'}/$Filename"; |
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97 | |||
98 | $LogCsvIsOpen = 1; |
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99 | |||
100 | # print labes at first line |
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101 | |||
102 | # NC OSD |
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103 | my $Sep = ""; |
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104 | foreach $Label (sort keys %MkOsd) |
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105 | { |
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106 | if ( $Translate{$Label} ne "" ) |
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107 | { |
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108 | $Label = $Translate{$Label}; |
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109 | } |
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110 | print LOGCSV "$Sep" . "$Label"; |
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111 | $Sep = ","; |
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112 | } |
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113 | |||
114 | # NC Debug |
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115 | foreach $Label (sort keys %MkNcDebug) |
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116 | { |
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117 | if ( $Translate{$Label} ne "" ) |
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118 | { |
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119 | $Label = $Translate{$Label}; |
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120 | } |
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121 | print LOGCSV "$Sep" . "$Label"; |
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122 | } |
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123 | print LOGCSV "\n"; |
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124 | } |
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125 | |||
126 | return 0; |
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127 | } |
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128 | |||
129 | |||
130 | # Close CSV |
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131 | sub LogCsvClose() |
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132 | { |
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133 | if ( $LogCsvIsOpen ) |
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134 | { |
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135 | close LOGCSV; |
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136 | $LogCsvIsOpen = 0; |
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137 | } |
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138 | |||
139 | return 0; |
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140 | } |
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141 | |||
142 | # Log CSV |
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143 | sub LogCsv() |
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144 | { |
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145 | lock %MkOsd; # until end of Block |
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146 | lock %MkNcDebug; # until end of Block |
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147 | |||
148 | if ( $MkOsd{'_Timestamp'} >= time-2 ) |
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149 | { |
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150 | # active connection to MK |
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151 | &LogCsvOpen(); |
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152 | |||
153 | # NC OSD |
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154 | my $Sep = ""; |
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155 | foreach $Label (sort keys %MkOsd) |
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156 | { |
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157 | print LOGCSV "$Sep" . "$MkOsd{$Label}"; |
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158 | $Sep = ","; |
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159 | } |
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160 | |||
161 | # NC Debug |
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162 | foreach $Label (sort keys %MkNcDebug) |
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163 | { |
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164 | print LOGCSV "$Sep" . "$MkNcDebug{$Label}"; |
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165 | } |
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166 | print LOGCSV "\n"; |
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167 | } |
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168 | else |
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169 | { |
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170 | # connection to MK lost, close Logfile |
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171 | &LogCsvClose(); |
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172 | } |
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173 | |||
174 | return 0; |
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175 | } |
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176 | |||
177 | |||
178 | # |
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179 | # GPX |
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180 | # http://www.topografix.com/gpx_manual.asp |
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181 | # |
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182 | |||
183 | # Open GPX logfile |
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184 | sub LogGpxOpen() |
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185 | { |
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186 | if ( ! $LogGpxIsOpen ) |
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187 | { |
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188 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time); |
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189 | my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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190 | my $Filename = "mk-" . $TimeStamp . ".gpx"; |
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191 | open LOGGPX, ">$Cfg->{'logging'}->{'GpxLogDir'}/$Filename"; |
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192 | $LogGpxIsOpen = 1; |
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193 | |||
194 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time); |
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195 | my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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196 | |||
197 | # print GPX-Header |
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198 | print LOGGPX <<EOF; |
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199 | <?xml version="1.0" encoding="UTF-8"?> |
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200 | <gpx |
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201 | version="1.0" |
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202 | creator="MK Mission Cockpit" |
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203 | xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" |
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204 | xmlns="http://www.topografix.com/GPX/1/0" |
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205 | xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd"> |
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206 | <time>${UtcTimeStamp}</time> |
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207 | <trk> |
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208 | <name>Mikrokopter GPS logging</name> |
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209 | <desc>Flight ${TimeStamp}</desc> |
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210 | <trkseg> |
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211 | EOF |
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212 | } |
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213 | |||
214 | return 0; |
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215 | } |
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216 | |||
217 | |||
218 | # Close GPX |
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219 | sub LogGpxClose() |
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220 | { |
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221 | if ( $LogGpxIsOpen ) |
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222 | { |
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223 | # print GPX-Trailer |
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224 | print LOGGPX <<EOF; |
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225 | </trkseg> |
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226 | </trk> |
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227 | </gpx> |
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228 | EOF |
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229 | close LOGGPX; |
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230 | $LogGpxIsOpen = 0; |
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231 | } |
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232 | |||
233 | return 0; |
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234 | } |
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235 | |||
236 | |||
237 | # Log GPX |
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238 | sub LogGpx() |
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239 | { |
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240 | lock %MkOsd; # until end of Block |
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241 | |||
242 | if ( $MkOsd{'_Timestamp'} >= time-2 and |
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243 | $MkOsd{'MKFlags'} & 0x02 and $MkOsd{'CurPos_Stat'} == 1 ) |
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244 | { |
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245 | # active connection to MK, MK is flying, valid GPS |
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246 | &LogGpxOpen(); |
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247 | |||
248 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time); |
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249 | my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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250 | |||
251 | my $Speed = $MkOsd{'GroundSpeed'} / 100; # m/s |
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252 | printf LOGGPX <<EOF; |
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253 | <trkpt lat="$MkOsd{'CurPos_Lat'}" lon="$MkOsd{'CurPos_Lon'}"> |
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254 | <ele>$MkOsd{'CurPos_Alt'}</ele> |
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255 | <time>${UtcTimeStamp}</time> |
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256 | <sat>$MkOsd{'SatsInUse'}</sat> |
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257 | <course>$MkOsd{'CompassHeading'}</course> |
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258 | <speed>$Speed</speed> |
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259 | <extensions> |
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260 | <Target-Lat>$MkOsd{'TargetPos_Lat'}</Target-Lat> |
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261 | <Target-Lon>$MkOsd{'TargetPos_Lon'}</Target-Lon> |
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262 | <Target-Alt>$MkOsd{'TargetPos_Alt'}</Target-Alt> |
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263 | <Target-Bearing>$MkOsd{'TargetPosDev_Bearing'}</Target-Bearing> |
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264 | <Target-Dist>$MkOsd{'TargetPosDev_Dist'}</Target-Dist> |
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265 | <Waypoint>$MkOsd{'WaypointIndex'} / $MkOsd{'WaypointNumber'}</Waypoint> |
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266 | <Altimeter>$MkOsd{'Altimeter'}</Altimeter> |
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267 | <Variometer>$MkOsd{'Variometer'}</Variometer> |
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268 | <UBat>$MkOsd{'UBat'}</UBat> |
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269 | <AngleNick>$MkOsd{'AngleNick'}</AngleNick> |
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270 | <AngleRoll>$MkOsd{'AngleRoll'}</AngleRoll> |
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271 | <MKFlags>$MkOsd{'MKFlags'}</MKFlags> |
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272 | <NCFlags>$MkOsd{'NCFlags'}</NCFlags> |
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273 | </extensions> |
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274 | </trkpt> |
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275 | EOF |
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276 | } |
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277 | else |
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278 | { |
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279 | &LogGpxClose(); |
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280 | } |
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281 | } |
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282 | |||
283 | # |
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284 | # KML |
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285 | # http://code.google.com/intl/de-DE/apis/kml/documentation/kml_tut.html |
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286 | # |
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287 | |||
288 | # Open KML logfile |
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289 | sub LogKmlOpen() |
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290 | { |
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291 | if ( ! $LogKmlIsOpen ) |
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292 | { |
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293 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time); |
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294 | my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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295 | my $Filename = "mk-" . $TimeStamp . ".kml"; |
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296 | open LOGKML, ">$Cfg->{'logging'}->{'KmlLogDir'}/$Filename"; |
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297 | $LogKmlIsOpen = 1; |
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298 | |||
299 | # print KML-Header |
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300 | print LOGKML <<EOF; |
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301 | <?xml version="1.0" encoding="UTF-8"?> |
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302 | <kml xmlns="http://earth.google.com/kml/2.2"> |
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303 | <Document> |
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304 | <name>Mikrokopter GPS logging</name> |
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305 | <Style id="MK_gps-style"> |
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306 | <LineStyle> |
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307 | <color>ff0000ff</color> |
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308 | <width>2</width> |
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309 | </LineStyle> |
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310 | </Style> |
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311 | <Placemark> |
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312 | <name>Flight ${TimeStamp}</name> |
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313 | <styleUrl>MK_gps-style</styleUrl> |
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314 | <LineString> |
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315 | <tessellate>1</tessellate> |
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316 | <altitudeMode>relativeToGround</altitudeMode> |
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317 | <coordinates> |
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318 | EOF |
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319 | } |
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320 | |||
321 | return 0; |
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322 | } |
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323 | |||
324 | |||
325 | # Close KML |
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326 | sub LogKmlClose() |
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327 | { |
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328 | if ( $LogKmlIsOpen ) |
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329 | { |
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330 | # print KML-Trailer |
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331 | print LOGKML <<EOF; |
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332 | </coordinates> |
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333 | </LineString> |
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334 | </Placemark> |
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335 | </Document> |
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336 | </kml> |
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337 | EOF |
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338 | close LOGKML; |
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339 | $LogKmlIsOpen = 0; |
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340 | } |
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341 | |||
342 | return 0; |
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343 | } |
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344 | |||
345 | |||
346 | # Log KML |
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347 | sub LogKml() |
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348 | { |
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349 | lock %MkOsd; # until end of Block |
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350 | |||
351 | if ( $MkOsd{'_Timestamp'} >= time-2 and |
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352 | $MkOsd{'MKFlags'} & 0x02 and $MkOsd{'CurPos_Stat'} == 1 ) |
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353 | { |
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354 | # active connection to MK, MK is flying, valid GPS |
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355 | &LogKmlOpen(); |
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356 | |||
357 | my $AltRel = $MkOsd{'CurPos_Alt'} - $MkOsd{'HomePos_Alt'}; |
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358 | if ( $AltRel < 0 ) { $AltRel = 0; } |
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359 | printf LOGKML " %f, %f, %f\n", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $AltRel; |
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360 | } |
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361 | else |
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362 | { |
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363 | &LogKmlClose(); |
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364 | } |
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365 | } |
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366 | |||
367 | |||
368 | # Send Coords to GoogleEarth server |
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369 | sub Send2GeServer() |
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370 | { |
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371 | lock %MkOsd; # until end of Block |
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372 | |||
373 | if ( $MkOsd{'_Timestamp'} >= time-2 and |
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374 | $MkOsd{'MKFlags'} & 0x02 and $MkOsd{'CurPos_Stat'} == 1 ) |
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375 | { |
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376 | # active connection to MK, MK is flying, valid GPS |
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377 | |||
378 | my $AltRel = $MkOsd{'CurPos_Alt'} - $MkOsd{'HomePos_Alt'}; |
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379 | if ( $AltRel < 0 ) { $AltRel = 0; } |
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380 | |||
381 | push @GeCoords, sprintf "%f, %f, %f", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $AltRel; |
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382 | } |
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383 | } |
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384 | |||
385 | |||
386 | sub MkLogLoop() |
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387 | { |
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388 | while (1) |
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389 | { |
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390 | &LogCsv(); |
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391 | &LogKml(); |
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392 | &LogGpx(); |
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393 | |||
394 | &Send2GeServer(); # Google Earth |
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395 | |||
396 | # kurz schlafen legen |
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397 | usleep $LoopTime; |
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398 | } |
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399 | } |
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400 | |||
401 | # |
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402 | # Hauptprgramm |
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403 | # |
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404 | |||
405 | if ( $0 =~ /logging.pl$/i ) |
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406 | { |
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407 | # Program wurde direkt aufgerufen |
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408 | |||
409 | # Kommunikation zum MK herstellen |
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410 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
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411 | |||
412 | &MkLogLoop(); |
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413 | |||
414 | # should never exit |
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415 | } |
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416 | |||
417 | 1; |
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418 | |||
419 | __END__ |