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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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215 | killagreg | 62 | #include "uart1.h" |
24 | StephanB | 63 | |
64 | |||
65 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 66 | // Module name: kml.c |
24 | StephanB | 67 | // Compiler used: avr-gcc 3.4.5 |
85 | killagreg | 68 | // Last Modifikation: 22.03.2009 |
69 | // Version: 1.03 |
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70 | // Authors: Stephan Busker, Gregor Stobrawa |
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24 | StephanB | 71 | // Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
72 | // Copyright (C) 2007 Stephan Busker |
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73 | //........................................................................................................................................ |
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74 | // 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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75 | // extern u8 KML_DocumentInit(KML_Document_t *doc) // initializes the kml-document to resetvalues. |
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76 | // extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml document. A filename can be specified. |
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77 | // extern u8 KML_DocumentClose(KML_Document_t *doc); // closes an open document |
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85 | killagreg | 78 | // extern u8 KML_PlaceMarkOpen(KML_Document_t *); // opens a new placemark within the specified document |
79 | // extern u8 KML_PlaceMarkClose(KML_Document_t *); // Closes the placemark |
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24 | StephanB | 80 | // extern u8 KML_LineStringBegin(KML_Document_t *); // begins a new line within the actual placemark |
81 | // extern u8 KML_LineStringEnd(KML_Document_t *doc); // ends the actual linestring |
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82 | // 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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83 | //........................................................................................................................................ |
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41 | ingob | 84 | // ext. functions: |
85 | // |
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24 | StephanB | 86 | //........................................................................................................................................ |
87 | // |
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88 | // URL: www.Mikro-Control.de |
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89 | // mailto: stephan.busker@mikro-control.de |
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90 | //________________________________________________________________________________________________________________________________________ |
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91 | |||
92 | |||
93 | |||
94 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 95 | // Function: KML_DocumentInit(KML_Document_t *) |
96 | // |
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24 | StephanB | 97 | // Description: This function initializes the kml-document for further use. |
98 | // |
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41 | ingob | 99 | // |
24 | StephanB | 100 | // Returnvalue: '1' if document was initialized |
101 | //________________________________________________________________________________________________________________________________________ |
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102 | |||
103 | u8 KML_DocumentInit(KML_Document_t *doc) |
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85 | killagreg | 104 | { |
105 | doc->state = KML_DOC_CLOSED; // state of the kml-document |
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41 | ingob | 106 | doc->file = NULL; |
24 | StephanB | 107 | return(1); |
108 | } |
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109 | |||
110 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 111 | // Function: KML_Document_Open(void); |
112 | // |
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24 | StephanB | 113 | // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
114 | // |
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41 | ingob | 115 | // |
116 | // Returnvalue: '1' if the KML- file could be created. |
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24 | StephanB | 117 | //________________________________________________________________________________________________________________________________________ |
118 | |||
119 | u8 KML_DocumentOpen(s8 *name, KML_Document_t *doc) |
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120 | { |
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121 | |||
122 | u8 retvalue = 0; |
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123 | |||
41 | ingob | 124 | if(doc == NULL) return(0); |
125 | |||
126 | KML_DocumentInit(doc); // intialize the document with resetvalues |
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127 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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128 | |||
24 | StephanB | 129 | if(doc->file != NULL) // could the file be opened? |
130 | { |
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131 | retvalue = 1; // the document could be created on the drive. |
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85 | killagreg | 132 | doc->state = KML_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
133 | 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 | 134 | } |
135 | |||
136 | return(retvalue); |
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137 | } |
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138 | |||
139 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 140 | // Function: DocumentClose(KML_Document_t *doc); |
24 | StephanB | 141 | // |
41 | ingob | 142 | // Description: This function closes the document specified by doc. |
143 | // |
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144 | // |
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145 | // Returnvalue: '1' if the KML- file could be closed. |
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24 | StephanB | 146 | //________________________________________________________________________________________________________________________________________ |
147 | |||
148 | u8 KML_DocumentClose(KML_Document_t *doc) |
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149 | { |
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150 | |||
41 | ingob | 151 | u8 retvalue = 1; |
24 | StephanB | 152 | |
41 | ingob | 153 | if(doc == NULL) return(0); |
154 | |||
85 | killagreg | 155 | while(doc->state != KML_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
41 | ingob | 156 | { |
24 | StephanB | 157 | switch(doc->state) |
158 | { |
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85 | killagreg | 159 | case KML_DOC_LINESTRING_OPENED: |
24 | StephanB | 160 | KML_LineStringEnd(doc); // write terminating tag to end linestring. |
41 | ingob | 161 | break; |
24 | StephanB | 162 | |
85 | killagreg | 163 | case KML_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
24 | StephanB | 164 | KML_PlaceMarkClose(doc); |
41 | ingob | 165 | break; |
166 | |||
85 | killagreg | 167 | case KML_DOC_OPENED: // close the file on the memorycard |
24 | StephanB | 168 | if(doc->file != NULL) |
169 | { |
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41 | ingob | 170 | fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
171 | fclose_(doc->file); |
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24 | StephanB | 172 | retvalue = 1; |
173 | } |
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85 | killagreg | 174 | doc->state = KML_DOC_CLOSED; |
41 | ingob | 175 | break; |
176 | |||
177 | default: |
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85 | killagreg | 178 | doc->state = KML_DOC_CLOSED; |
41 | ingob | 179 | break; |
180 | |||
24 | StephanB | 181 | } |
41 | ingob | 182 | } |
24 | StephanB | 183 | return(retvalue); |
184 | } |
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185 | |||
186 | //________________________________________________________________________________________________________________________________________ |
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85 | killagreg | 187 | // Function: u8 KML_PlaceMarkOpen(KML_Document_t *doc); |
41 | ingob | 188 | // |
24 | StephanB | 189 | // Description: This function adds a placemark to the document. |
190 | // |
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41 | ingob | 191 | // |
192 | // Returnvalue: '1' if the PlaceMark could be opened |
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24 | StephanB | 193 | //________________________________________________________________________________________________________________________________________ |
194 | |||
85 | killagreg | 195 | u8 KML_PlaceMarkOpen(KML_Document_t *doc) |
24 | StephanB | 196 | { |
197 | u8 retvalue = 0; |
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85 | killagreg | 198 | if(doc->state == KML_DOC_OPENED) |
24 | StephanB | 199 | { |
85 | killagreg | 200 | if(doc->file != NULL) |
201 | { |
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202 | doc->state = KML_DOC_PLACEMARK_OPENED; |
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203 | retvalue = 1; |
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204 | fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
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205 | } |
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24 | StephanB | 206 | } |
207 | return(retvalue); |
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208 | } |
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209 | |||
210 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 211 | // Function: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
212 | // |
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24 | StephanB | 213 | // Description: This function ends the placemark opened before. |
214 | // |
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41 | ingob | 215 | // |
216 | // Returnvalue: 1' if the PlaceMark could be closed |
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24 | StephanB | 217 | //________________________________________________________________________________________________________________________________________ |
218 | |||
219 | u8 KML_PlaceMarkClose(KML_Document_t *doc) |
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220 | { |
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221 | |||
222 | u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
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223 | |||
85 | killagreg | 224 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
24 | StephanB | 225 | { |
226 | if(doc->file != NULL) |
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227 | { |
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85 | killagreg | 228 | doc->state = KML_DOC_OPENED; |
41 | ingob | 229 | fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
24 | StephanB | 230 | retvalue = 1; |
231 | } |
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232 | } |
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41 | ingob | 233 | |
24 | StephanB | 234 | return(retvalue); |
235 | } |
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236 | |||
237 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 238 | // Function: u8 LineStringBegin(KML_Document_t *doc); |
239 | // |
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24 | StephanB | 240 | // Description: This function ends the placemark opened before. |
241 | // |
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41 | ingob | 242 | // |
243 | // Returnvalue: '1' if the LineString could be started |
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24 | StephanB | 244 | //________________________________________________________________________________________________________________________________________ |
245 | |||
246 | u8 KML_LineStringBegin(KML_Document_t *doc) |
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247 | { |
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248 | |||
249 | u8 retvalue = 0; |
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41 | ingob | 250 | |
85 | killagreg | 251 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
24 | StephanB | 252 | { |
85 | killagreg | 253 | if(doc->file != NULL) |
254 | { |
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255 | doc->state = KML_DOC_LINESTRING_OPENED; |
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256 | fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
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257 | retvalue = 1; |
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258 | } |
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24 | StephanB | 259 | } |
260 | return(retvalue); |
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261 | } |
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262 | |||
263 | //________________________________________________________________________________________________________________________________________ |
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85 | killagreg | 264 | // Function: u8 KML_LineStringEnd(KML_Document_t *doc) |
41 | ingob | 265 | // |
24 | StephanB | 266 | // Description: This function ends the placemark opened before. |
267 | // |
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41 | ingob | 268 | // |
269 | // Returnvalue: '1' if the LineString could be terminated |
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24 | StephanB | 270 | //________________________________________________________________________________________________________________________________________ |
271 | |||
272 | u8 KML_LineStringEnd(KML_Document_t *doc) |
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273 | { |
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274 | |||
275 | u8 retvalue = 0; |
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41 | ingob | 276 | |
85 | killagreg | 277 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
24 | StephanB | 278 | { |
85 | killagreg | 279 | if(doc->file != NULL) |
280 | { |
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281 | doc->state = KML_DOC_PLACEMARK_OPENED; |
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282 | fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
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283 | retvalue = 1; |
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284 | } |
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24 | StephanB | 285 | } |
286 | return(retvalue); |
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287 | } |
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288 | |||
289 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 290 | // Function: u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc) |
291 | // |
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24 | StephanB | 292 | // Description: This function adds a point to the specified document. |
293 | // |
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41 | ingob | 294 | // |
295 | // Returnvalue: '1' if a ppoint was added could be started |
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24 | StephanB | 296 | //________________________________________________________________________________________________________________________________________ |
297 | |||
85 | killagreg | 298 | u8 KML_LineStringAddPoint(KML_Document_t *doc) |
24 | StephanB | 299 | { |
300 | |||
301 | u8 retvalue = 0; |
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302 | s8 string[50]; |
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41 | ingob | 303 | s32 rel_altitude = 0; |
304 | |||
85 | killagreg | 305 | if(doc == NULL) return(0); |
41 | ingob | 306 | |
215 | killagreg | 307 | if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
24 | StephanB | 308 | { |
85 | killagreg | 309 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
24 | StephanB | 310 | { |
41 | ingob | 311 | if(doc->file != NULL) |
312 | { |
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313 | s32 i1, i2; |
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51 | killagreg | 314 | u8 sign; |
85 | killagreg | 315 | if(GPSData.Position.Longitude < 0) sign = '-'; |
51 | killagreg | 316 | else sign = '+'; |
85 | killagreg | 317 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
318 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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51 | killagreg | 319 | sprintf(string,"\r\n%c%ld.%07ld,",sign, i1, i2); |
41 | ingob | 320 | fputs_(string, doc->file); |
85 | killagreg | 321 | if(GPSData.Position.Latitude < 0) sign = '-'; |
51 | killagreg | 322 | else sign = '+'; |
85 | killagreg | 323 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
324 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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51 | killagreg | 325 | sprintf(string,"%c%ld.%07ld,",sign, i1, i2); |
41 | ingob | 326 | fputs_(string, doc->file); |
327 | // calculate relative altitude with respect to the altitude of the home position |
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215 | killagreg | 328 | rel_altitude = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
41 | ingob | 329 | if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
330 | i1 = rel_altitude/1000L; |
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53 | killagreg | 331 | i2 = rel_altitude%1000L; |
41 | ingob | 332 | sprintf(string," %ld.%03ld",i1, i2); |
333 | fputs_(string, doc->file); |
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334 | retvalue = 1; |
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335 | } |
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24 | StephanB | 336 | } |
337 | } |
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338 | |||
339 | return(retvalue); |
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340 | } |
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341 | |||
342 | //________________________________________________________________________________________________________________________________________ |
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41 | ingob | 343 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
344 | // |
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24 | StephanB | 345 | // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
346 | // |
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41 | ingob | 347 | // |
348 | // Returnvalue: '1' if an gps coordinate was logged |
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24 | StephanB | 349 | //________________________________________________________________________________________________________________________________________ |
350 | |||
85 | killagreg | 351 | u8 KML_LoggGPSCoordinates(KML_Document_t *doc) |
24 | StephanB | 352 | { |
41 | ingob | 353 | u8 retval = 0; |
85 | killagreg | 354 | while(doc->state != KML_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
41 | ingob | 355 | { |
24 | StephanB | 356 | switch(doc->state) |
357 | { |
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85 | killagreg | 358 | case KML_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
41 | ingob | 359 | retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
24 | StephanB | 360 | break; |
361 | |||
85 | killagreg | 362 | case KML_DOC_OPENED: // if a document has been opened before but no placemark exists: |
363 | retval = KML_PlaceMarkOpen(doc); |
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24 | StephanB | 364 | break; |
365 | |||
85 | killagreg | 366 | case KML_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
41 | ingob | 367 | retval = KML_LineStringBegin(doc); |
24 | StephanB | 368 | break; |
369 | |||
41 | ingob | 370 | default: |
85 | killagreg | 371 | retval = 0; |
41 | ingob | 372 | break; |
373 | |||
24 | StephanB | 374 | } |
41 | ingob | 375 | if(retval != 1) return(retval); // stop on error |
376 | } |
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24 | StephanB | 377 | |
85 | killagreg | 378 | if(doc->state == KML_DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
24 | StephanB | 379 | { |
85 | killagreg | 380 | retval = KML_LineStringAddPoint(doc); |
24 | StephanB | 381 | } |
41 | ingob | 382 | return(retval); |
24 | StephanB | 383 | } |
27 | holgerb | 384 |