Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
544 | rain-er | 1 | #!/usr/bin/perl |
2 | #!/usr/bin/perl -d:ptkdb |
||
3 | |||
4 | ############################################################################### |
||
5 | # |
||
6 | # logging.pl - CSV, KLM, GPS Logging |
||
7 | # |
||
8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
||
9 | # |
||
10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
||
11 | # |
||
12 | # Es ist Ihnen gestattet: |
||
13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
||
14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
||
15 | # |
||
16 | # Zu den folgenden Bedingungen: |
||
17 | # * Namensnennung. |
||
18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
||
19 | # * Keine kommerzielle Nutzung. |
||
20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
||
21 | # * Weitergabe unter gleichen Bedingungen. |
||
22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
||
23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
||
24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
||
25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
||
26 | # |
||
27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
||
28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
||
29 | # |
||
30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
||
31 | # des Rechteinhabers dazu erhalten. |
||
32 | # |
||
33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
||
34 | # |
||
35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
||
36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
||
37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
||
38 | # |
||
39 | ############################################################################### |
||
40 | # |
||
41 | # 2009-02-23 0.0.1 rw created |
||
42 | # 2009-04-01 0.1.0 rw RC1 |
||
43 | # 2009-05-01 0.1.1 rw configurable logging interval |
||
44 | # 2009-05-17 0.1.7 rw _Timestamp timeout von 2s auf 10s erhoeht |
||
45 | # |
||
46 | ############################################################################### |
||
47 | |||
48 | $Version{'logging.pl'} = "0.1.0 - 2009-04-01"; |
||
49 | |||
50 | # |
||
51 | # Parameter |
||
52 | # |
||
53 | |||
54 | my $LoopTime = $Cfg->{'logging'}->{'Intervall'} || 1; # in s |
||
55 | $LoopTime *= 1000000; # in us |
||
56 | |||
57 | # Packages |
||
58 | use threads; |
||
59 | use threads::shared; |
||
60 | use Time::HiRes qw(usleep); |
||
61 | |||
62 | require "mkcomm.pl"; # MK communication |
||
63 | require "geserver.pl"; # Google Earth Server |
||
64 | require "translate.pl"; # Übersetzungstable |
||
65 | |||
66 | # |
||
67 | # Signal handler |
||
68 | # |
||
69 | |||
70 | $SIG{'INT'} = 'LogSigHandler'; |
||
71 | $SIG{'KILL'} = 'LogSigHandler'; |
||
72 | |||
73 | sub SigHandler() |
||
74 | { |
||
75 | if ( defined threads->self() ) |
||
76 | { |
||
77 | threads->exit(); |
||
78 | } |
||
79 | exit; |
||
80 | } |
||
81 | |||
82 | |||
83 | my $LogCsvIsOpen = 0; |
||
84 | my $LogKmlIsOpen = 0; |
||
85 | my $LogGpxIsOpen = 0; |
||
86 | my $GeServerIsRunning = 0; |
||
87 | |||
88 | # |
||
89 | # CSV |
||
90 | # |
||
91 | |||
92 | # Open CSV logfile |
||
93 | sub LogCsvOpen() |
||
94 | { |
||
95 | if ( ! $LogCsvIsOpen ) |
||
96 | { |
||
97 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time); |
||
98 | my $Filename = sprintf ("mk-%04d%02d%02d-%02d%02d%02d.csv", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
||
99 | open LOGCSV, ">$Cfg->{'logging'}->{'CsvLogDir'}/$Filename"; |
||
100 | |||
101 | $LogCsvIsOpen = 1; |
||
102 | |||
103 | # print labes at first line |
||
104 | |||
105 | # NC OSD |
||
106 | my $Sep = ""; |
||
107 | foreach $Label (sort keys %MkOsd) |
||
108 | { |
||
109 | if ( $Translate{$Label} ne "" ) |
||
110 | { |
||
111 | $Label = $Translate{$Label}; |
||
112 | } |
||
113 | print LOGCSV "$Sep" . "$Label"; |
||
114 | $Sep = ","; |
||
115 | } |
||
116 | |||
117 | # NC Debug |
||
118 | foreach $Label (sort keys %MkNcDebug) |
||
119 | { |
||
120 | if ( $Translate{$Label} ne "" ) |
||
121 | { |
||
122 | $Label = $Translate{$Label}; |
||
123 | } |
||
124 | print LOGCSV "$Sep" . "$Label"; |
||
125 | } |
||
126 | print LOGCSV "\n"; |
||
127 | } |
||
128 | |||
129 | return 0; |
||
130 | } |
||
131 | |||
132 | |||
133 | # Close CSV |
||
134 | sub LogCsvClose() |
||
135 | { |
||
136 | if ( $LogCsvIsOpen ) |
||
137 | { |
||
138 | close LOGCSV; |
||
139 | $LogCsvIsOpen = 0; |
||
140 | } |
||
141 | |||
142 | return 0; |
||
143 | } |
||
144 | |||
145 | # Log CSV |
||
146 | sub LogCsv() |
||
147 | { |
||
148 | lock %MkOsd; # until end of Block |
||
149 | lock %MkNcDebug; # until end of Block |
||
150 | |||
151 | if ( $MkOsd{'_Timestamp'} >= time-10 ) |
||
152 | { |
||
153 | # active connection to MK |
||
154 | &LogCsvOpen(); |
||
155 | |||
156 | # NC OSD |
||
157 | my $Sep = ""; |
||
158 | foreach $Label (sort keys %MkOsd) |
||
159 | { |
||
160 | print LOGCSV "$Sep" . "$MkOsd{$Label}"; |
||
161 | $Sep = ","; |
||
162 | } |
||
163 | |||
164 | # NC Debug |
||
165 | foreach $Label (sort keys %MkNcDebug) |
||
166 | { |
||
167 | print LOGCSV "$Sep" . "$MkNcDebug{$Label}"; |
||
168 | } |
||
169 | print LOGCSV "\n"; |
||
170 | } |
||
171 | else |
||
172 | { |
||
173 | # connection to MK lost, close Logfile |
||
174 | &LogCsvClose(); |
||
175 | } |
||
176 | |||
177 | return 0; |
||
178 | } |
||
179 | |||
180 | |||
181 | # |
||
182 | # GPX |
||
183 | # http://www.topografix.com/gpx_manual.asp |
||
184 | # |
||
185 | |||
186 | # Open GPX logfile |
||
187 | sub LogGpxOpen() |
||
188 | { |
||
189 | if ( ! $LogGpxIsOpen ) |
||
190 | { |
||
191 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time); |
||
192 | my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
||
193 | my $Filename = "mk-" . $TimeStamp . ".gpx"; |
||
194 | open LOGGPX, ">$Cfg->{'logging'}->{'GpxLogDir'}/$Filename"; |
||
195 | $LogGpxIsOpen = 1; |
||
196 | |||
197 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time); |
||
198 | my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
||
199 | |||
200 | # print GPX-Header |
||
201 | print LOGGPX <<EOF; |
||
202 | <?xml version="1.0" encoding="UTF-8"?> |
||
203 | <gpx |
||
204 | version="1.0" |
||
205 | creator="MK Mission Cockpit" |
||
206 | xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" |
||
207 | xmlns="http://www.topografix.com/GPX/1/0" |
||
208 | xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd"> |
||
209 | <time>${UtcTimeStamp}</time> |
||
210 | <trk> |
||
211 | <name>Mikrokopter GPS logging</name> |
||
212 | <desc>Flight ${TimeStamp}</desc> |
||
213 | <trkseg> |
||
214 | EOF |
||
215 | } |
||
216 | |||
217 | return 0; |
||
218 | } |
||
219 | |||
220 | |||
221 | # Close GPX |
||
222 | sub LogGpxClose() |
||
223 | { |
||
224 | if ( $LogGpxIsOpen ) |
||
225 | { |
||
226 | # print GPX-Trailer |
||
227 | print LOGGPX <<EOF; |
||
228 | </trkseg> |
||
229 | </trk> |
||
230 | </gpx> |
||
231 | EOF |
||
232 | close LOGGPX; |
||
233 | $LogGpxIsOpen = 0; |
||
234 | } |
||
235 | |||
236 | return 0; |
||
237 | } |
||
238 | |||
239 | |||
240 | # Log GPX |
||
241 | sub LogGpx() |
||
242 | { |
||
243 | lock %MkOsd; # until end of Block |
||
244 | |||
245 | if ( $MkOsd{'_Timestamp'} >= time-10 and |
||
246 | $MkOsd{'MKFlags'} & 0x02 and $MkOsd{'CurPos_Stat'} == 1 ) |
||
247 | { |
||
248 | # active connection to MK, MK is flying, valid GPS |
||
249 | &LogGpxOpen(); |
||
250 | |||
251 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time); |
||
252 | my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
||
253 | |||
254 | my $Speed = $MkOsd{'GroundSpeed'} / 100; # m/s |
||
255 | printf LOGGPX <<EOF; |
||
256 | <trkpt lat="$MkOsd{'CurPos_Lat'}" lon="$MkOsd{'CurPos_Lon'}"> |
||
257 | <ele>$MkOsd{'CurPos_Alt'}</ele> |
||
258 | <time>${UtcTimeStamp}</time> |
||
259 | <sat>$MkOsd{'SatsInUse'}</sat> |
||
260 | <course>$MkOsd{'CompassHeading'}</course> |
||
261 | <speed>$Speed</speed> |
||
262 | <extensions> |
||
263 | <Target-Lat>$MkOsd{'TargetPos_Lat'}</Target-Lat> |
||
264 | <Target-Lon>$MkOsd{'TargetPos_Lon'}</Target-Lon> |
||
265 | <Target-Alt>$MkOsd{'TargetPos_Alt'}</Target-Alt> |
||
266 | <Target-Bearing>$MkOsd{'TargetPosDev_Bearing'}</Target-Bearing> |
||
267 | <Target-Dist>$MkOsd{'TargetPosDev_Dist'}</Target-Dist> |
||
268 | <Waypoint>$MkOsd{'WaypointIndex'} / $MkOsd{'WaypointNumber'}</Waypoint> |
||
269 | <Altimeter>$MkOsd{'Altimeter'}</Altimeter> |
||
270 | <Variometer>$MkOsd{'Variometer'}</Variometer> |
||
271 | <UBat>$MkOsd{'UBat'}</UBat> |
||
272 | <AngleNick>$MkOsd{'AngleNick'}</AngleNick> |
||
273 | <AngleRoll>$MkOsd{'AngleRoll'}</AngleRoll> |
||
274 | <MKFlags>$MkOsd{'MKFlags'}</MKFlags> |
||
275 | <NCFlags>$MkOsd{'NCFlags'}</NCFlags> |
||
276 | </extensions> |
||
277 | </trkpt> |
||
278 | EOF |
||
279 | } |
||
280 | else |
||
281 | { |
||
282 | &LogGpxClose(); |
||
283 | } |
||
284 | } |
||
285 | |||
286 | # |
||
287 | # KML |
||
288 | # http://code.google.com/intl/de-DE/apis/kml/documentation/kml_tut.html |
||
289 | # |
||
290 | |||
291 | # Open KML logfile |
||
292 | sub LogKmlOpen() |
||
293 | { |
||
294 | if ( ! $LogKmlIsOpen ) |
||
295 | { |
||
296 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time); |
||
297 | my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
||
298 | my $Filename = "mk-" . $TimeStamp . ".kml"; |
||
299 | open LOGKML, ">$Cfg->{'logging'}->{'KmlLogDir'}/$Filename"; |
||
300 | $LogKmlIsOpen = 1; |
||
301 | |||
302 | # print KML-Header |
||
303 | print LOGKML <<EOF; |
||
304 | <?xml version="1.0" encoding="UTF-8"?> |
||
305 | <kml xmlns="http://earth.google.com/kml/2.2"> |
||
306 | <Document> |
||
307 | <name>Mikrokopter GPS logging</name> |
||
308 | <Style id="MK_gps-style"> |
||
309 | <LineStyle> |
||
310 | <color>ff0000ff</color> |
||
311 | <width>2</width> |
||
312 | </LineStyle> |
||
313 | </Style> |
||
314 | <Placemark> |
||
315 | <name>Flight ${TimeStamp}</name> |
||
316 | <styleUrl>MK_gps-style</styleUrl> |
||
317 | <LineString> |
||
318 | <tessellate>1</tessellate> |
||
319 | <altitudeMode>relativeToGround</altitudeMode> |
||
320 | <coordinates> |
||
321 | EOF |
||
322 | } |
||
323 | |||
324 | return 0; |
||
325 | } |
||
326 | |||
327 | |||
328 | # Close KML |
||
329 | sub LogKmlClose() |
||
330 | { |
||
331 | if ( $LogKmlIsOpen ) |
||
332 | { |
||
333 | # print KML-Trailer |
||
334 | print LOGKML <<EOF; |
||
335 | </coordinates> |
||
336 | </LineString> |
||
337 | </Placemark> |
||
338 | </Document> |
||
339 | </kml> |
||
340 | EOF |
||
341 | close LOGKML; |
||
342 | $LogKmlIsOpen = 0; |
||
343 | } |
||
344 | |||
345 | return 0; |
||
346 | } |
||
347 | |||
348 | |||
349 | # Log KML |
||
350 | sub LogKml() |
||
351 | { |
||
352 | lock %MkOsd; # until end of Block |
||
353 | |||
354 | if ( $MkOsd{'_Timestamp'} >= time-10 and |
||
355 | $MkOsd{'MKFlags'} & 0x02 and $MkOsd{'CurPos_Stat'} == 1 ) |
||
356 | { |
||
357 | # active connection to MK, MK is flying, valid GPS |
||
358 | &LogKmlOpen(); |
||
359 | |||
360 | my $AltRel = $MkOsd{'CurPos_Alt'} - $MkOsd{'HomePos_Alt'}; |
||
361 | if ( $AltRel < 0 ) { $AltRel = 0; } |
||
362 | printf LOGKML " %f, %f, %f\n", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $AltRel; |
||
363 | } |
||
364 | else |
||
365 | { |
||
366 | &LogKmlClose(); |
||
367 | } |
||
368 | } |
||
369 | |||
370 | |||
371 | # Send Coords to GoogleEarth server |
||
372 | sub Send2GeServer() |
||
373 | { |
||
374 | lock %MkOsd; # until end of Block |
||
375 | |||
376 | if ( $MkOsd{'_Timestamp'} >= time-10 and |
||
377 | $MkOsd{'MKFlags'} & 0x02 and $MkOsd{'CurPos_Stat'} == 1 ) |
||
378 | { |
||
379 | # active connection to MK, MK is flying, valid GPS |
||
380 | |||
381 | my $AltRel = $MkOsd{'CurPos_Alt'} - $MkOsd{'HomePos_Alt'}; |
||
382 | if ( $AltRel < 0 ) { $AltRel = 0; } |
||
383 | |||
384 | push @GeCoords, sprintf "%f, %f, %f", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $AltRel; |
||
385 | } |
||
386 | } |
||
387 | |||
388 | |||
389 | sub MkLogLoop() |
||
390 | { |
||
391 | while (1) |
||
392 | { |
||
393 | &LogCsv(); |
||
394 | &LogKml(); |
||
395 | &LogGpx(); |
||
396 | |||
397 | &Send2GeServer(); # Google Earth |
||
398 | |||
399 | # kurz schlafen legen |
||
400 | usleep $LoopTime; |
||
401 | } |
||
402 | } |
||
403 | |||
404 | # |
||
405 | # Hauptprgramm |
||
406 | # |
||
407 | |||
408 | if ( $0 =~ /logging.pl$/i ) |
||
409 | { |
||
410 | # Program wurde direkt aufgerufen |
||
411 | |||
412 | # Kommunikation zum MK herstellen |
||
413 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
||
414 | |||
415 | &MkLogLoop(); |
||
416 | |||
417 | # should never exit |
||
418 | } |
||
419 | |||
420 | 1; |
||
421 | |||
422 | __END__ |