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#!/usr/bin/perl

#!/usr/bin/perl -d:ptkdb

###############################################################################

#

# logging.pl -  CSV, KLM, GPS Logging

#

# Copyright (C) 2009  Rainer Walther  (rainerwalther-mail@web.de)

#

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#

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###############################################################################

#

# 2009-02-23 0.0.1 rw created

# 2009-04-01 0.1.0 rw RC1

# 2009-05-01 0.1.1 rw configurable logging interval

# 2009-05-17 0.1.7 rw _Timestamp timeout von 2s auf 10s erhoeht

#

###############################################################################

$Version{'logging.pl'} = "0.1.0 - 2009-04-01";

#

# Parameter

#

my $LoopTime = $Cfg->{'logging'}->{'Intervall'} || 1;  # in s

$LoopTime *= 1000000;      # in us

# Packages

use threads;

use threads::shared;

use Time::HiRes qw(usleep);

require "mkcomm.pl";     # MK communication

require "geserver.pl";   # Google Earth Server

require "translate.pl";  # Übersetzungstable

#

# Signal handler

#

$SIG{'INT'}  = 'LogSigHandler';

$SIG{'KILL'} = 'LogSigHandler';

sub SigHandler()

    {

    if ( defined threads->self() )

        {

        threads->exit();

        }

    exit;

    }

my $LogCsvIsOpen = 0;

my $LogKmlIsOpen = 0;

my $LogGpxIsOpen = 0;

my $GeServerIsRunning = 0;

#

# CSV

#

# Open CSV logfile

sub LogCsvOpen()

    {

    if ( ! $LogCsvIsOpen )

        {      

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time);

        my $Filename = sprintf ("mk-%04d%02d%02d-%02d%02d%02d.csv", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        open LOGCSV, ">$Cfg->{'logging'}->{'CsvLogDir'}/$Filename";

        $LogCsvIsOpen = 1;

        # print labes at first line

        # NC OSD

        my $Sep = "";

        foreach $Label (sort keys %MkOsd)

            {

            if ( $Translate{$Label} ne "" )

                {

                $Label = $Translate{$Label};

                }

            print LOGCSV "$Sep" . "$Label";

            $Sep = ",";

            }

        # NC Debug

        foreach $Label (sort keys %MkNcDebug)

            {

            if ( $Translate{$Label} ne "" )

                {

                $Label = $Translate{$Label};

                }

            print LOGCSV "$Sep" . "$Label";

            }

        print LOGCSV "\n";

        }

    return 0;

    }

# Close CSV

sub LogCsvClose()

    {

    if ( $LogCsvIsOpen )

        {

        close LOGCSV;

        $LogCsvIsOpen = 0;

        }

    return 0;

    }  

# Log CSV

sub LogCsv()

    {

    lock %MkOsd;      # until end of Block

    lock %MkNcDebug;  # until end of Block

    if ( $MkOsd{'_Timestamp'} >= time-10 )

        {

        # active connection to MK

        &LogCsvOpen();

        # NC OSD

        my $Sep = "";

        foreach $Label (sort keys %MkOsd)

            {

            print LOGCSV "$Sep" . "$MkOsd{$Label}";

            $Sep = ",";

            }

        # NC Debug

        foreach $Label (sort keys %MkNcDebug)

            {

            print LOGCSV "$Sep" . "$MkNcDebug{$Label}";

            }

        print LOGCSV "\n";

        }

    else

        {

        # connection to MK lost, close Logfile

        &LogCsvClose();

        }

    return 0;

    }

#

# GPX

# http://www.topografix.com/gpx_manual.asp

#

# Open GPX logfile

sub LogGpxOpen()

    {

    if ( ! $LogGpxIsOpen )

        {

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time);

        my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        my $Filename = "mk-" . $TimeStamp . ".gpx";

        open LOGGPX, ">$Cfg->{'logging'}->{'GpxLogDir'}/$Filename";

        $LogGpxIsOpen = 1;

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time);

        my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        # print GPX-Header

        print LOGGPX <<EOF;

<?xml version="1.0" encoding="UTF-8"?>

<gpx

  version="1.0"

  creator="MK Mission Cockpit"

  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

  xmlns="http://www.topografix.com/GPX/1/0"

  xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">

  <time>${UtcTimeStamp}</time>

  <trk>

    <name>Mikrokopter GPS logging</name>

        <desc>Flight ${TimeStamp}</desc>

    <trkseg>

EOF

        }

    return 0;

    }  

# Close GPX

sub LogGpxClose()

    {

    if ( $LogGpxIsOpen )

        {

        # print GPX-Trailer

        print LOGGPX <<EOF;

    </trkseg>

  </trk>

</gpx>

EOF

        close LOGGPX;

        $LogGpxIsOpen = 0;

        }

    return 0;

    }  

# Log GPX

sub LogGpx()

    {

    lock %MkOsd;   # until end of Block

    if ( $MkOsd{'_Timestamp'} >= time-10  and

         $MkOsd{'MKFlags'} & 0x02  and  $MkOsd{'CurPos_Stat'} == 1 )

        {

        # active connection to MK, MK is flying, valid GPS

        &LogGpxOpen();

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time);

        my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        my $Speed = $MkOsd{'GroundSpeed'} / 100;  # m/s

        printf LOGGPX <<EOF;

      <trkpt lat="$MkOsd{'CurPos_Lat'}" lon="$MkOsd{'CurPos_Lon'}">

        <ele>$MkOsd{'CurPos_Alt'}</ele>

        <time>${UtcTimeStamp}</time>

        <sat>$MkOsd{'SatsInUse'}</sat>

        <course>$MkOsd{'CompassHeading'}</course>

        <speed>$Speed</speed>

        <extensions>

          <Target-Lat>$MkOsd{'TargetPos_Lat'}</Target-Lat>

          <Target-Lon>$MkOsd{'TargetPos_Lon'}</Target-Lon>

          <Target-Alt>$MkOsd{'TargetPos_Alt'}</Target-Alt>

          <Target-Bearing>$MkOsd{'TargetPosDev_Bearing'}</Target-Bearing>

          <Target-Dist>$MkOsd{'TargetPosDev_Dist'}</Target-Dist>

          <Waypoint>$MkOsd{'WaypointIndex'} / $MkOsd{'WaypointNumber'}</Waypoint>

          <Altimeter>$MkOsd{'Altimeter'}</Altimeter>

          <Variometer>$MkOsd{'Variometer'}</Variometer>

          <UBat>$MkOsd{'UBat'}</UBat>

          <AngleNick>$MkOsd{'AngleNick'}</AngleNick>

          <AngleRoll>$MkOsd{'AngleRoll'}</AngleRoll>

          <MKFlags>$MkOsd{'MKFlags'}</MKFlags>

          <NCFlags>$MkOsd{'NCFlags'}</NCFlags>

        </extensions>

      </trkpt>         

EOF

        }

    else

        {

        &LogGpxClose();

        }

    }

#

# KML

# http://code.google.com/intl/de-DE/apis/kml/documentation/kml_tut.html

#

# Open KML logfile

sub LogKmlOpen()

    {

    if ( ! $LogKmlIsOpen )

        {      

        my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time);

        my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec);

        my $Filename = "mk-" . $TimeStamp . ".kml";

        open LOGKML, ">$Cfg->{'logging'}->{'KmlLogDir'}/$Filename";

        $LogKmlIsOpen = 1;

        # print KML-Header

        print LOGKML <<EOF;

<?xml version="1.0" encoding="UTF-8"?>

<kml xmlns="http://earth.google.com/kml/2.2">

  <Document>

    <name>Mikrokopter GPS logging</name>

    <Style id="MK_gps-style">

      <LineStyle>

        <color>ff0000ff</color>

        <width>2</width>

      </LineStyle>

    </Style>

    <Placemark>

      <name>Flight ${TimeStamp}</name>

      <styleUrl>MK_gps-style</styleUrl>

      <LineString>

        <tessellate>1</tessellate>

        <altitudeMode>relativeToGround</altitudeMode>

        <coordinates>

EOF

        }

    return 0;

    }  

# Close KML

sub LogKmlClose()

    {

    if ( $LogKmlIsOpen )

        {

        # print KML-Trailer

        print LOGKML <<EOF;

        </coordinates>

      </LineString>

    </Placemark>

  </Document>

</kml>

EOF

        close LOGKML;

        $LogKmlIsOpen = 0;

        }

    return 0;

    }  

# Log KML

sub LogKml()

    {

    lock %MkOsd;   # until end of Block

    if ( $MkOsd{'_Timestamp'} >= time-10  and

         $MkOsd{'MKFlags'} & 0x02  and  $MkOsd{'CurPos_Stat'} == 1 )

        {

        # active connection to MK, MK is flying, valid GPS

        &LogKmlOpen();

        my $AltRel = $MkOsd{'CurPos_Alt'} - $MkOsd{'HomePos_Alt'};

        if ( $AltRel < 0 ) { $AltRel = 0; }

        printf LOGKML "          %f, %f, %f\n", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $AltRel;

        }

    else

        {

        &LogKmlClose();

        }

    }

# Send Coords to GoogleEarth server

sub Send2GeServer()

    {

    lock %MkOsd;   # until end of Block

    if ( $MkOsd{'_Timestamp'} >= time-10  and

         $MkOsd{'MKFlags'} & 0x02  and  $MkOsd{'CurPos_Stat'} == 1 )

        {

        # active connection to MK, MK is flying, valid GPS

        my $AltRel = $MkOsd{'CurPos_Alt'} - $MkOsd{'HomePos_Alt'};

        if ( $AltRel < 0 ) { $AltRel = 0; }

        push @GeCoords, sprintf "%f, %f, %f", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $AltRel;

        }

    }

sub MkLogLoop()

    {

    while (1)

        {

        &LogCsv();

        &LogKml();

        &LogGpx();

        &Send2GeServer();  # Google Earth

        # kurz schlafen legen

        usleep $LoopTime;

        }

    }

#

# Hauptprgramm

#       

if ( $0 =~ /logging.pl$/i )

    {

    # Program wurde direkt aufgerufen

    # Kommunikation zum MK herstellen

    $mk_thr = threads->create (\&MkCommLoop) -> detach();

    &MkLogLoop();

    # should never exit

    }

1;

__END__