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Rev | Author | Line No. | Line |
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24 | StephanB | 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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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
24 | StephanB | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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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24 | StephanB | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
24 | StephanB | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | StephanB | 29 | // + mit unserer Zustimmung zulässig |
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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41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
24 | StephanB | 34 | // + this list of conditions and the following disclaimer. |
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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41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
24 | StephanB | 38 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
24 | StephanB | 40 | // + with our written permission |
41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
24 | StephanB | 44 | // |
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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41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
24 | StephanB | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 57 | #include <stdlib.h> |
24 | StephanB | 58 | #include <stdio.h> |
41 | ingob | 59 | #include "91x_lib.h" |
24 | StephanB | 60 | #include "kml.h" |
61 | #include "kml_header.h" |
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62 | |||
63 | |||
64 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 65 | // Module name: kml.c |
24 | StephanB | 66 | // Compiler used: avr-gcc 3.4.5 |
41 | ingob | 67 | // Last Modifikation: 20.07.2008 |
24 | StephanB | 68 | // Version: 1.02 |
41 | ingob | 69 | // Authors: Stephan Busker |
24 | StephanB | 70 | // Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
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(s8 *name, KML_Document_t *); // opens a new placemark within the specified document |
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41 | ingob | 78 | // extern u8 KML_PlaceMarkClose( KML_Document_t *); // Closes the placemark |
24 | StephanB | 79 | // extern u8 KML_LineStringBegin(KML_Document_t *); // begins a new line within the actual placemark |
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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41 | ingob | 83 | // ext. functions: |
84 | // |
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24 | StephanB | 85 | //........................................................................................................................................ |
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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41 | ingob | 94 | // Function: KML_DocumentInit(KML_Document_t *) |
95 | // |
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24 | StephanB | 96 | // Description: This function initializes the kml-document for further use. |
97 | // |
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41 | ingob | 98 | // |
24 | StephanB | 99 | // Returnvalue: '1' if document was initialized |
100 | //________________________________________________________________________________________________________________________________________ |
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101 | |||
102 | u8 KML_DocumentInit(KML_Document_t *doc) |
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103 | { |
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104 | doc->name[0] = 0; // name of the document |
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105 | doc->state = DOC_CLOSED; // state of the kml-document |
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41 | ingob | 106 | doc->file = NULL; |
24 | StephanB | 107 | doc->place.name[0]=0; |
108 | doc->place.description[0]=0; |
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109 | return(1); |
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110 | } |
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111 | |||
112 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 113 | // Function: KML_Document_Open(void); |
114 | // |
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24 | StephanB | 115 | // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
116 | // |
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41 | ingob | 117 | // |
118 | // Returnvalue: '1' if the KML- file could be created. |
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24 | StephanB | 119 | //________________________________________________________________________________________________________________________________________ |
120 | |||
121 | u8 KML_DocumentOpen(s8 *name, KML_Document_t *doc) |
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122 | { |
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123 | |||
124 | u8 retvalue = 0; |
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125 | |||
41 | ingob | 126 | if(doc == NULL) return(0); |
127 | |||
128 | KML_DocumentInit(doc); // intialize the document with resetvalues |
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129 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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130 | |||
24 | StephanB | 131 | if(doc->file != NULL) // could the file be opened? |
132 | { |
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133 | retvalue = 1; // the document could be created on the drive. |
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134 | doc->state = DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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41 | ingob | 135 | fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML- footer to the document. |
24 | StephanB | 136 | } |
137 | |||
138 | return(retvalue); |
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139 | } |
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140 | |||
141 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 142 | // Function: DocumentClose(KML_Document_t *doc); |
24 | StephanB | 143 | // |
41 | ingob | 144 | // Description: This function closes the document specified by doc. |
145 | // |
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146 | // |
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147 | // Returnvalue: '1' if the KML- file could be closed. |
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24 | StephanB | 148 | //________________________________________________________________________________________________________________________________________ |
149 | |||
150 | u8 KML_DocumentClose(KML_Document_t *doc) |
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151 | { |
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152 | |||
41 | ingob | 153 | u8 retvalue = 1; |
24 | StephanB | 154 | |
41 | ingob | 155 | if(doc == NULL) return(0); |
156 | |||
24 | StephanB | 157 | while(doc->state != DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
41 | ingob | 158 | { |
24 | StephanB | 159 | switch(doc->state) |
160 | { |
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161 | case DOC_LINESTRING_OPENED: |
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162 | KML_LineStringEnd(doc); // write terminating tag to end linestring. |
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163 | doc->state = DOC_PLACEMARK_OPENED; |
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41 | ingob | 164 | break; |
24 | StephanB | 165 | |
166 | case DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
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167 | KML_PlaceMarkClose(doc); |
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168 | doc->state = DOC_OPENED; |
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41 | ingob | 169 | break; |
170 | |||
171 | case DOC_OPENED: // close the file on the memorycard |
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24 | StephanB | 172 | if(doc->file != NULL) |
173 | { |
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41 | ingob | 174 | fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
175 | fclose_(doc->file); |
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24 | StephanB | 176 | retvalue = 1; |
177 | } |
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41 | ingob | 178 | doc->state = DOC_CLOSED; |
179 | break; |
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180 | |||
181 | default: |
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182 | doc->state = DOC_CLOSED; |
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183 | break; |
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184 | |||
24 | StephanB | 185 | } |
41 | ingob | 186 | } |
24 | StephanB | 187 | return(retvalue); |
188 | } |
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189 | |||
190 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 191 | // Function: u8 PlaceMarkOpen(s8 *name, File *file); |
192 | // |
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24 | StephanB | 193 | // Description: This function adds a placemark to the document. |
194 | // |
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41 | ingob | 195 | // |
196 | // Returnvalue: '1' if the PlaceMark could be opened |
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24 | StephanB | 197 | //________________________________________________________________________________________________________________________________________ |
198 | |||
199 | u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *doc) |
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200 | { |
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201 | |||
202 | u8 retvalue = 0; |
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203 | |||
204 | if(doc->file != NULL) |
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205 | { |
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206 | doc->state = DOC_PLACEMARK_OPENED; |
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207 | retvalue = 1; |
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41 | ingob | 208 | fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
24 | StephanB | 209 | } |
41 | ingob | 210 | |
24 | StephanB | 211 | return(retvalue); |
212 | } |
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213 | |||
214 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 215 | // Function: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
216 | // |
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24 | StephanB | 217 | // Description: This function ends the placemark opened before. |
218 | // |
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41 | ingob | 219 | // |
220 | // Returnvalue: 1' if the PlaceMark could be closed |
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24 | StephanB | 221 | //________________________________________________________________________________________________________________________________________ |
222 | |||
223 | u8 KML_PlaceMarkClose(KML_Document_t *doc) |
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224 | { |
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225 | |||
226 | u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
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227 | |||
228 | if(doc->state == DOC_PLACEMARK_OPENED) |
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229 | { |
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230 | if(doc->file != NULL) |
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231 | { |
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41 | ingob | 232 | doc->state = DOC_OPENED; |
233 | fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
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24 | StephanB | 234 | retvalue = 1; |
235 | } |
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236 | } |
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41 | ingob | 237 | |
24 | StephanB | 238 | return(retvalue); |
239 | } |
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240 | |||
241 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 242 | // Function: u8 LineStringBegin(KML_Document_t *doc); |
243 | // |
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24 | StephanB | 244 | // Description: This function ends the placemark opened before. |
245 | // |
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41 | ingob | 246 | // |
247 | // Returnvalue: '1' if the LineString could be started |
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24 | StephanB | 248 | //________________________________________________________________________________________________________________________________________ |
249 | |||
250 | u8 KML_LineStringBegin(KML_Document_t *doc) |
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251 | { |
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252 | |||
253 | u8 retvalue = 0; |
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41 | ingob | 254 | |
24 | StephanB | 255 | if(doc->file != NULL) |
256 | { |
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257 | doc->state = DOC_LINESTRING_OPENED; |
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41 | ingob | 258 | fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
24 | StephanB | 259 | retvalue = 1; |
260 | } |
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261 | |||
262 | return(retvalue); |
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263 | } |
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264 | |||
265 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 266 | // Function: u8 LineStringEnd(KML_Document_t *doc) |
267 | // |
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24 | StephanB | 268 | // Description: This function ends the placemark opened before. |
269 | // |
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41 | ingob | 270 | // |
271 | // Returnvalue: '1' if the LineString could be terminated |
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24 | StephanB | 272 | //________________________________________________________________________________________________________________________________________ |
273 | |||
274 | u8 KML_LineStringEnd(KML_Document_t *doc) |
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275 | { |
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276 | |||
277 | u8 retvalue = 0; |
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41 | ingob | 278 | |
24 | StephanB | 279 | if(doc->state == DOC_LINESTRING_OPENED); |
280 | if(doc->file != NULL) |
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281 | { |
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282 | doc->state = DOC_PLACEMARK_OPENED; |
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41 | ingob | 283 | fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
24 | StephanB | 284 | retvalue = 1; |
285 | } |
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286 | |||
287 | return(retvalue); |
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288 | } |
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289 | |||
290 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 291 | // Function: u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc) |
292 | // |
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24 | StephanB | 293 | // Description: This function adds a point to the specified document. |
294 | // |
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41 | ingob | 295 | // |
296 | // Returnvalue: '1' if a ppoint was added could be started |
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24 | StephanB | 297 | //________________________________________________________________________________________________________________________________________ |
298 | |||
41 | ingob | 299 | u8 KML_LineStringAddPoint(GPS_Pos_t * pGPS_Position ,KML_Document_t *doc) |
24 | StephanB | 300 | { |
301 | |||
302 | u8 retvalue = 0; |
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303 | s8 string[50]; |
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41 | ingob | 304 | s32 rel_altitude = 0; |
305 | |||
306 | if(doc == NULL || pGPS_Position == NULL) return(0); |
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307 | |||
308 | if((pGPS_Position->Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
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24 | StephanB | 309 | { |
41 | ingob | 310 | if(doc->state == DOC_LINESTRING_OPENED) |
24 | StephanB | 311 | { |
41 | ingob | 312 | if(doc->file != NULL) |
313 | { |
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314 | s32 i1, i2; |
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51 | killagreg | 315 | u8 sign; |
316 | if(pGPS_Position->Longitude < 0) sign = '-'; |
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317 | else sign = '+'; |
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53 | killagreg | 318 | i1 = abs(pGPS_Position->Longitude)/10000000L; |
319 | i2 = abs(pGPS_Position->Longitude)%10000000L; |
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51 | killagreg | 320 | sprintf(string,"\r\n%c%ld.%07ld,",sign, i1, i2); |
41 | ingob | 321 | fputs_(string, doc->file); |
51 | killagreg | 322 | if(pGPS_Position->Latitude < 0) sign = '-'; |
323 | else sign = '+'; |
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53 | killagreg | 324 | i1 = abs(pGPS_Position->Latitude)/10000000L; |
325 | i2 = abs(pGPS_Position->Latitude)%10000000L; |
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51 | killagreg | 326 | sprintf(string,"%c%ld.%07ld,",sign, i1, i2); |
41 | ingob | 327 | fputs_(string, doc->file); |
328 | // calculate relative altitude with respect to the altitude of the home position |
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329 | rel_altitude = pGPS_Position->Altitude - GPS_HomePosition.Altitude; |
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330 | if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
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331 | i1 = rel_altitude/1000L; |
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53 | killagreg | 332 | i2 = rel_altitude%1000L; |
41 | ingob | 333 | sprintf(string," %ld.%03ld",i1, i2); |
334 | fputs_(string, doc->file); |
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335 | retvalue = 1; |
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336 | } |
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24 | StephanB | 337 | } |
338 | } |
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339 | |||
340 | return(retvalue); |
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341 | } |
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342 | |||
343 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 344 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
345 | // |
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24 | StephanB | 346 | // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
347 | // |
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41 | ingob | 348 | // |
349 | // Returnvalue: '1' if an gps coordinate was logged |
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24 | StephanB | 350 | //________________________________________________________________________________________________________________________________________ |
351 | |||
41 | ingob | 352 | u8 KML_LoggGPSCoordinates(GPS_Pos_t* pGPS_Position, KML_Document_t *doc) |
24 | StephanB | 353 | { |
41 | ingob | 354 | u8 retval = 0; |
24 | StephanB | 355 | while(doc->state != DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
41 | ingob | 356 | { |
24 | StephanB | 357 | switch(doc->state) |
358 | { |
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359 | case DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
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360 | KML_DocumentInit(doc); // initialize the document to default values |
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41 | ingob | 361 | retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
362 | if(retval) |
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24 | StephanB | 363 | { |
364 | doc->state = DOC_OPENED; |
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41 | ingob | 365 | } |
24 | StephanB | 366 | break; |
367 | |||
368 | case DOC_OPENED: // if a document has been opened before but no placemark exists: |
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41 | ingob | 369 | retval = KML_PlaceMarkOpen("MIKROKOPTER",doc); |
370 | if(retval) |
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371 | { |
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372 | doc->state = DOC_PLACEMARK_OPENED; // add a placemark to the document. |
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24 | StephanB | 373 | } |
374 | break; |
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375 | |||
376 | case DOC_PLACEMARK_OPENED: // add linestring to the placemark |
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41 | ingob | 377 | retval = KML_LineStringBegin(doc); |
378 | if(retval) |
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24 | StephanB | 379 | { |
380 | doc->state = DOC_LINESTRING_OPENED; |
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381 | } |
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382 | break; |
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383 | |||
41 | ingob | 384 | default: |
385 | retval = 1; |
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386 | break; |
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387 | |||
24 | StephanB | 388 | } |
41 | ingob | 389 | if(retval != 1) return(retval); // stop on error |
390 | } |
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24 | StephanB | 391 | |
392 | if(doc->state == DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
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393 | { |
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41 | ingob | 394 | retval = KML_LineStringAddPoint(pGPS_Position, doc); |
24 | StephanB | 395 | } |
41 | ingob | 396 | return(retval); |
24 | StephanB | 397 | } |
27 | holgerb | 398 |