Subversion Repositories NaviCtrl

/*#######################################################################################*/

/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */

/*#######################################################################################*/

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software LICENSING TERMS

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <stdlib.h>

#include <stdio.h>

#include "91x_lib.h"

#include "kml.h"

#include "kml_header.h"

#include "uart1.h"

#include "logging.h"

//________________________________________________________________________________________________________________________________________

// Module name:                 kml.c

// Compiler used:               avr-gcc 3.4.5

// Last Modifikation:   22.03.2009

// Version:                             1.03

// Authors:                             Stephan Busker, Gregor Stobrawa

// Description:                 Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat

//                                              Copyright (C) 2007 Stephan Busker

//........................................................................................................................................

// 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

//                                              extern u8       KML_DocumentInit(KML_Document_t *doc)                                                           // initializes the kml-document to resetvalues.

//                                              extern u8       KML_DocumentOpen(s8 *, KML_Document_t *);                                                       // opens a new kml document. A filename can be specified.

//                                              extern u8       KML_DocumentClose(KML_Document_t *doc);                                                         // closes an open document

//                                              extern u8   KML_PlaceMarkOpen(KML_Document_t *);                                                                // opens a new placemark within the specified document

//                                              extern u8       KML_PlaceMarkClose(KML_Document_t *);                                                           // Closes the placemark

//                                              extern u8       KML_LineStringBegin(KML_Document_t *);                                                          // begins a new line within the actual placemark

//                                              extern u8       KML_LineStringEnd(KML_Document_t *doc);                                                         // ends the actual linestring

//                                              extern u8       KML_LineStringAddPoint(struct str_gps_nav_data, KML_Document_t *);      // adds a new point (gps-coordinates) to the actual linestring

//........................................................................................................................................

// ext. functions:

//

//........................................................................................................................................

//

// URL:                                 www.Mikro-Control.de

// mailto:                              stephan.busker@mikro-control.de

//________________________________________________________________________________________________________________________________________

//________________________________________________________________________________________________________________________________________

// Function:    KML_DocumentInit(KML_Document_t *)

//

// Description: This function initializes the kml-document for further use.

//

//

// Returnvalue: '1' if document was initialized

//________________________________________________________________________________________________________________________________________

u8 KML_DocumentInit(KML_Document_t *doc)

{                                                                                                              

        doc->state       = KML_DOC_CLOSED;                                                                                                      // state of the kml-document

        doc->file        = NULL;

        return(1);

}

//________________________________________________________________________________________________________________________________________

// Function:    KML_Document_Open(void);

//

// Description: This function opens a new KML- document with the specified name and creates the document header within the file.

//

//

// Returnvalue: '1' if the KML- file could be created.

//________________________________________________________________________________________________________________________________________

u8 KML_DocumentOpen(s8 *name, KML_Document_t *doc)

{

        u8 retvalue = 0;

        if(doc == NULL) return(0);

        KML_DocumentInit(doc);                                                                                                          // intialize the document with resetvalues

        doc->file = fopen_(name,'a');                                                                                           // open a new file with the specified filename on the memorycard.

        if(doc->file != NULL)                                                                                                           // could the file be opened?

        {

                retvalue = 1;                                                                                                                   // the document could be created on the drive.

                doc->state = KML_DOC_OPENED;                                                                                            // change document state to opened. At next a placemark has to be opened.

                fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML-header to the document.

        }

        return(retvalue);

}

//________________________________________________________________________________________________________________________________________

// Function:    DocumentClose(KML_Document_t *doc);

//

// Description: This function closes the document specified by doc.

//

//

// Returnvalue: '1' if the KML- file could be closed.

//________________________________________________________________________________________________________________________________________

u8 KML_DocumentClose(KML_Document_t *doc)

{

        u8 retvalue = 1;

        if(doc == NULL) return(0);

        while(doc->state != KML_DOC_CLOSED)                                                             // close linestring, placemark and document before closing the file on the memorycard

        {

                switch(doc->state)

                {

                        case KML_DOC_LINESTRING_OPENED:

                                KML_LineStringEnd(doc);                                                 // write terminating tag to end linestring.

                                break;

                        case KML_DOC_PLACEMARK_OPENED:                                                  // write terminating tag to close placemark.

                                KML_PlaceMarkClose(doc);

                                break;

                        case KML_DOC_OPENED:                                                                    // close the file on the memorycard

                                if(doc->file != NULL)

                                {

                                        fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document.

                                        fclose_(doc->file);

                                        retvalue = 1;

                                }

                                doc->state = KML_DOC_CLOSED;

                                break;

                        default:

                                doc->state = KML_DOC_CLOSED;

                                break;

                }

        }

        return(retvalue);

}

//________________________________________________________________________________________________________________________________________

// Function:    u8 KML_PlaceMarkOpen(KML_Document_t *doc);

//

// Description: This function adds a placemark to the document.

//

//

// Returnvalue: '1' if the PlaceMark could be opened

//________________________________________________________________________________________________________________________________________

u8 KML_PlaceMarkOpen(KML_Document_t *doc)

{

        u8 retvalue = 0;

        if(doc->state == KML_DOC_OPENED)

        {

                if(doc->file != NULL)

                {

                        doc->state = KML_DOC_PLACEMARK_OPENED;

                        retvalue = 1;

                        fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file);

                }

        }

        return(retvalue);

}

//________________________________________________________________________________________________________________________________________

// Function:    u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file);

//

// Description: This function ends the placemark opened before.

//

//

// Returnvalue: 1' if the PlaceMark could be closed

//________________________________________________________________________________________________________________________________________

u8 KML_PlaceMarkClose(KML_Document_t *doc)

{

        u8 retvalue = 0;                                                                                                                        // close the Placemark-tag of the corosponding document.

        if(doc->state == KML_DOC_PLACEMARK_OPENED)

        {

                if(doc->file != NULL)

                {

                        doc->state = KML_DOC_OPENED;

                        fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file);

                        retvalue = 1;

                }

        }

        return(retvalue);

}

//________________________________________________________________________________________________________________________________________

// Function:    u8 LineStringBegin(KML_Document_t *doc);

//

// Description: This function ends the placemark opened before.

//

//

// Returnvalue: '1' if the LineString could be started

//________________________________________________________________________________________________________________________________________

u8 KML_LineStringBegin(KML_Document_t *doc)

{

        u8 retvalue = 0;

        if(doc->state == KML_DOC_PLACEMARK_OPENED)

        {

                if(doc->file != NULL)

                {

                        doc->state = KML_DOC_LINESTRING_OPENED;

                        fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file);

                        Logged_KML_Counter = 0;

                        retvalue = 1;

                }

        }

        return(retvalue);

}

//________________________________________________________________________________________________________________________________________

// Function:    u8 KML_LineStringEnd(KML_Document_t *doc)

//

// Description: This function ends the placemark opened before.

//

//

// Returnvalue: '1' if the LineString could be terminated

//________________________________________________________________________________________________________________________________________

u8 KML_LineStringEnd(KML_Document_t *doc)

{

        u8 retvalue = 0;

        if(doc->state == KML_DOC_LINESTRING_OPENED)

        {

                if(doc->file != NULL)

                {

                        doc->state = KML_DOC_PLACEMARK_OPENED;

                        fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file);

                        retvalue = 1;

                }

        }

        return(retvalue);

}

//________________________________________________________________________________________________________________________________________

// Function:    u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc)

//

// Description: This function adds a point to the specified document.

//

//

// Returnvalue: '1' if a ppoint was added could be started

//________________________________________________________________________________________________________________________________________

u8 KML_LineStringAddPoint(KML_Document_t *doc)

{

        u8 retvalue = 0;

        s8 string[50];

        s32 rel_altitude = 0;

        if(doc == NULL) return(0);

        if(GPSData.Position.Status != INVALID)

        {

                if(doc->state == KML_DOC_LINESTRING_OPENED)

                {

                        if(doc->file != NULL)

                        {

                                s32 i1, i2;

                                u8 sign;

                                if(GPSData.Position.Longitude < 0) sign = '-';

                                else sign = '+';

                                i1 = abs(GPSData.Position.Longitude)/10000000L;

                                i2 = abs(GPSData.Position.Longitude)%10000000L;

                                sprintf(string,"\r\n%c%ld.%07ld,",sign, i1, i2);

                                fputs_(string, doc->file);

                                if(GPSData.Position.Latitude < 0) sign = '-';

                                else sign = '+';

                                i1 = abs(GPSData.Position.Latitude)/10000000L;

                                i2 = abs(GPSData.Position.Latitude)%10000000L;

                                sprintf(string,"%c%ld.%07ld,",sign, i1, i2);

                                fputs_(string, doc->file);

                                // calculate relative altitude with respect to the altitude of the home position

                                rel_altitude = GPSData.Position.Altitude - NaviData.HomePosition.Altitude;

                                if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log

                                i1 = rel_altitude/1000L;

                                i2 = rel_altitude%1000L;

                                sprintf(string,"%ld.%03ld",i1, i2);

                                fputs_(string, doc->file);

                                Logged_KML_Counter++;

                                retvalue = 1;

                        }

                }

        }

        else

        {

                if(doc->state == KML_DOC_LINESTRING_OPENED)

                {

                        if(doc->file != NULL)

                        {

                                sprintf(string,"\r\n");

                                fputs_(string, doc->file);

                                Logged_KML_Counter++;

                                retvalue = 1;

                        }

                }

        }

        return(retvalue);

}

//________________________________________________________________________________________________________________________________________

// Function:    u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *)

//

// Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done

//

//

// Returnvalue: '1' if an gps coordinate was logged

//________________________________________________________________________________________________________________________________________

u8 KML_LoggGPSCoordinates(KML_Document_t *doc)

{

        u8 retval = 0;

        while(doc->state != KML_DOC_LINESTRING_OPENED)                                  // automatic create document with default filename on the card.

        {

                switch(doc->state)

                {

                        case KML_DOC_CLOSED:                                                                    // document hasn't been opened yet therefore it will be initialized automatically

                                retval = KML_DocumentOpen("default.kml",doc);   // open the kml-document with a standardname.

                        break;

                        case KML_DOC_OPENED:                                                                    // if a document has been opened before but no placemark exists:

                                retval = KML_PlaceMarkOpen(doc);

                        break;

                        case KML_DOC_PLACEMARK_OPENED:                                                  // add linestring to the placemark

                                retval = KML_LineStringBegin(doc);

                        break;

                        default:

                                retval = 0;

                        break;

                }

                if(retval != 1) return(retval); // stop on error

        }

        if(doc->state == KML_DOC_LINESTRING_OPENED)                                             // if the document was opened add coordinates to the document.

        {

                retval = KML_LineStringAddPoint(doc);

        }

        return(retval);

}