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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 |
85 | killagreg | 67 | // Last Modifikation: 22.03.2009 |
68 | // Version: 1.03 |
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69 | // Authors: Stephan Busker, Gregor Stobrawa |
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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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85 | killagreg | 77 | // extern u8 KML_PlaceMarkOpen(KML_Document_t *); // opens a new placemark within the specified document |
78 | // extern u8 KML_PlaceMarkClose(KML_Document_t *); // Closes the placemark |
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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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85 | killagreg | 103 | { |
104 | doc->state = KML_DOC_CLOSED; // state of the kml-document |
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41 | ingob | 105 | doc->file = NULL; |
24 | StephanB | 106 | return(1); |
107 | } |
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108 | |||
109 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 110 | // Function: KML_Document_Open(void); |
111 | // |
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24 | StephanB | 112 | // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
113 | // |
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41 | ingob | 114 | // |
115 | // Returnvalue: '1' if the KML- file could be created. |
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24 | StephanB | 116 | //________________________________________________________________________________________________________________________________________ |
117 | |||
118 | u8 KML_DocumentOpen(s8 *name, KML_Document_t *doc) |
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119 | { |
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120 | |||
121 | u8 retvalue = 0; |
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122 | |||
41 | ingob | 123 | if(doc == NULL) return(0); |
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 | |||
24 | StephanB | 128 | if(doc->file != NULL) // could the file be opened? |
129 | { |
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130 | retvalue = 1; // the document could be created on the drive. |
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85 | killagreg | 131 | doc->state = KML_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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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24 | StephanB | 133 | } |
134 | |||
135 | return(retvalue); |
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136 | } |
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137 | |||
138 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 139 | // Function: DocumentClose(KML_Document_t *doc); |
24 | StephanB | 140 | // |
41 | ingob | 141 | // Description: This function closes the document specified by doc. |
142 | // |
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143 | // |
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144 | // Returnvalue: '1' if the KML- file could be closed. |
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24 | StephanB | 145 | //________________________________________________________________________________________________________________________________________ |
146 | |||
147 | u8 KML_DocumentClose(KML_Document_t *doc) |
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148 | { |
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149 | |||
41 | ingob | 150 | u8 retvalue = 1; |
24 | StephanB | 151 | |
41 | ingob | 152 | if(doc == NULL) return(0); |
153 | |||
85 | killagreg | 154 | while(doc->state != KML_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
41 | ingob | 155 | { |
24 | StephanB | 156 | switch(doc->state) |
157 | { |
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85 | killagreg | 158 | case KML_DOC_LINESTRING_OPENED: |
24 | StephanB | 159 | KML_LineStringEnd(doc); // write terminating tag to end linestring. |
41 | ingob | 160 | break; |
24 | StephanB | 161 | |
85 | killagreg | 162 | case KML_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
24 | StephanB | 163 | KML_PlaceMarkClose(doc); |
41 | ingob | 164 | break; |
165 | |||
85 | killagreg | 166 | case KML_DOC_OPENED: // close the file on the memorycard |
24 | StephanB | 167 | if(doc->file != NULL) |
168 | { |
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41 | ingob | 169 | fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
170 | fclose_(doc->file); |
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24 | StephanB | 171 | retvalue = 1; |
172 | } |
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85 | killagreg | 173 | doc->state = KML_DOC_CLOSED; |
41 | ingob | 174 | break; |
175 | |||
176 | default: |
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85 | killagreg | 177 | doc->state = KML_DOC_CLOSED; |
41 | ingob | 178 | break; |
179 | |||
24 | StephanB | 180 | } |
41 | ingob | 181 | } |
24 | StephanB | 182 | return(retvalue); |
183 | } |
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184 | |||
185 | //________________________________________________________________________________________________________________________________________ |
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85 | killagreg | 186 | // Function: u8 KML_PlaceMarkOpen(KML_Document_t *doc); |
41 | ingob | 187 | // |
24 | StephanB | 188 | // Description: This function adds a placemark to the document. |
189 | // |
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41 | ingob | 190 | // |
191 | // Returnvalue: '1' if the PlaceMark could be opened |
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24 | StephanB | 192 | //________________________________________________________________________________________________________________________________________ |
193 | |||
85 | killagreg | 194 | u8 KML_PlaceMarkOpen(KML_Document_t *doc) |
24 | StephanB | 195 | { |
196 | u8 retvalue = 0; |
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85 | killagreg | 197 | if(doc->state == KML_DOC_OPENED) |
24 | StephanB | 198 | { |
85 | killagreg | 199 | if(doc->file != NULL) |
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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24 | StephanB | 205 | } |
206 | return(retvalue); |
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207 | } |
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208 | |||
209 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 210 | // Function: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
211 | // |
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24 | StephanB | 212 | // Description: This function ends the placemark opened before. |
213 | // |
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41 | ingob | 214 | // |
215 | // Returnvalue: 1' if the PlaceMark could be closed |
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24 | StephanB | 216 | //________________________________________________________________________________________________________________________________________ |
217 | |||
218 | u8 KML_PlaceMarkClose(KML_Document_t *doc) |
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219 | { |
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220 | |||
221 | u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
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222 | |||
85 | killagreg | 223 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
24 | StephanB | 224 | { |
225 | if(doc->file != NULL) |
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226 | { |
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85 | killagreg | 227 | doc->state = KML_DOC_OPENED; |
41 | ingob | 228 | fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
24 | StephanB | 229 | retvalue = 1; |
230 | } |
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231 | } |
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41 | ingob | 232 | |
24 | StephanB | 233 | return(retvalue); |
234 | } |
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235 | |||
236 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 237 | // Function: u8 LineStringBegin(KML_Document_t *doc); |
238 | // |
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24 | StephanB | 239 | // Description: This function ends the placemark opened before. |
240 | // |
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41 | ingob | 241 | // |
242 | // Returnvalue: '1' if the LineString could be started |
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24 | StephanB | 243 | //________________________________________________________________________________________________________________________________________ |
244 | |||
245 | u8 KML_LineStringBegin(KML_Document_t *doc) |
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246 | { |
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247 | |||
248 | u8 retvalue = 0; |
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41 | ingob | 249 | |
85 | killagreg | 250 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
24 | StephanB | 251 | { |
85 | killagreg | 252 | if(doc->file != NULL) |
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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24 | StephanB | 258 | } |
259 | return(retvalue); |
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260 | } |
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261 | |||
262 | //________________________________________________________________________________________________________________________________________ |
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85 | killagreg | 263 | // Function: u8 KML_LineStringEnd(KML_Document_t *doc) |
41 | ingob | 264 | // |
24 | StephanB | 265 | // Description: This function ends the placemark opened before. |
266 | // |
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41 | ingob | 267 | // |
268 | // Returnvalue: '1' if the LineString could be terminated |
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24 | StephanB | 269 | //________________________________________________________________________________________________________________________________________ |
270 | |||
271 | u8 KML_LineStringEnd(KML_Document_t *doc) |
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272 | { |
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273 | |||
274 | u8 retvalue = 0; |
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41 | ingob | 275 | |
85 | killagreg | 276 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
24 | StephanB | 277 | { |
85 | killagreg | 278 | if(doc->file != NULL) |
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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24 | StephanB | 284 | } |
285 | return(retvalue); |
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286 | } |
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287 | |||
288 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 289 | // Function: u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc) |
290 | // |
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24 | StephanB | 291 | // Description: This function adds a point to the specified document. |
292 | // |
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41 | ingob | 293 | // |
294 | // Returnvalue: '1' if a ppoint was added could be started |
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24 | StephanB | 295 | //________________________________________________________________________________________________________________________________________ |
296 | |||
85 | killagreg | 297 | u8 KML_LineStringAddPoint(KML_Document_t *doc) |
24 | StephanB | 298 | { |
299 | |||
300 | u8 retvalue = 0; |
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301 | s8 string[50]; |
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41 | ingob | 302 | s32 rel_altitude = 0; |
303 | |||
85 | killagreg | 304 | if(doc == NULL) return(0); |
41 | ingob | 305 | |
85 | killagreg | 306 | if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
24 | StephanB | 307 | { |
85 | killagreg | 308 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
24 | StephanB | 309 | { |
41 | ingob | 310 | if(doc->file != NULL) |
311 | { |
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312 | s32 i1, i2; |
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51 | killagreg | 313 | u8 sign; |
85 | killagreg | 314 | if(GPSData.Position.Longitude < 0) sign = '-'; |
51 | killagreg | 315 | else sign = '+'; |
85 | killagreg | 316 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
317 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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51 | killagreg | 318 | sprintf(string,"\r\n%c%ld.%07ld,",sign, i1, i2); |
41 | ingob | 319 | fputs_(string, doc->file); |
85 | killagreg | 320 | if(GPSData.Position.Latitude < 0) sign = '-'; |
51 | killagreg | 321 | else sign = '+'; |
85 | killagreg | 322 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
323 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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51 | killagreg | 324 | sprintf(string,"%c%ld.%07ld,",sign, i1, i2); |
41 | ingob | 325 | fputs_(string, doc->file); |
326 | // calculate relative altitude with respect to the altitude of the home position |
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85 | killagreg | 327 | rel_altitude = GPSData.Position.Altitude - GPS_HomePosition.Altitude; |
41 | ingob | 328 | if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
329 | i1 = rel_altitude/1000L; |
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53 | killagreg | 330 | i2 = rel_altitude%1000L; |
41 | ingob | 331 | sprintf(string," %ld.%03ld",i1, i2); |
332 | fputs_(string, doc->file); |
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333 | retvalue = 1; |
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334 | } |
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24 | StephanB | 335 | } |
336 | } |
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337 | |||
338 | return(retvalue); |
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339 | } |
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340 | |||
341 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 342 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
343 | // |
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24 | StephanB | 344 | // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
345 | // |
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41 | ingob | 346 | // |
347 | // Returnvalue: '1' if an gps coordinate was logged |
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24 | StephanB | 348 | //________________________________________________________________________________________________________________________________________ |
349 | |||
85 | killagreg | 350 | u8 KML_LoggGPSCoordinates(KML_Document_t *doc) |
24 | StephanB | 351 | { |
41 | ingob | 352 | u8 retval = 0; |
85 | killagreg | 353 | while(doc->state != KML_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
41 | ingob | 354 | { |
24 | StephanB | 355 | switch(doc->state) |
356 | { |
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85 | killagreg | 357 | case KML_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
41 | ingob | 358 | retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
24 | StephanB | 359 | break; |
360 | |||
85 | killagreg | 361 | case KML_DOC_OPENED: // if a document has been opened before but no placemark exists: |
362 | retval = KML_PlaceMarkOpen(doc); |
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24 | StephanB | 363 | break; |
364 | |||
85 | killagreg | 365 | case KML_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
41 | ingob | 366 | retval = KML_LineStringBegin(doc); |
24 | StephanB | 367 | break; |
368 | |||
41 | ingob | 369 | default: |
85 | killagreg | 370 | retval = 0; |
41 | ingob | 371 | break; |
372 | |||
24 | StephanB | 373 | } |
41 | ingob | 374 | if(retval != 1) return(retval); // stop on error |
375 | } |
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24 | StephanB | 376 | |
85 | killagreg | 377 | if(doc->state == KML_DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
24 | StephanB | 378 | { |
85 | killagreg | 379 | retval = KML_LineStringAddPoint(doc); |
24 | StephanB | 380 | } |
41 | ingob | 381 | return(retval); |
24 | StephanB | 382 | } |
27 | holgerb | 383 |