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62 | 62 | ||
63 | 63 | ||
64 | //________________________________________________________________________________________________________________________________________ |
64 | //________________________________________________________________________________________________________________________________________ |
65 | // Module name: kml.c |
65 | // Module name: kml.c |
66 | // Compiler used: avr-gcc 3.4.5 |
66 | // Compiler used: avr-gcc 3.4.5 |
67 | // Last Modifikation: 20.07.2008 |
67 | // Last Modifikation: 22.03.2009 |
68 | // Version: 1.02 |
68 | // Version: 1.03 |
69 | // Authors: Stephan Busker |
69 | // Authors: Stephan Busker, Gregor Stobrawa |
70 | // Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
70 | // Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
71 | // Copyright (C) 2007 Stephan Busker |
71 | // Copyright (C) 2007 Stephan Busker |
72 | //........................................................................................................................................ |
72 | //........................................................................................................................................ |
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 |
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 |
74 | // extern u8 KML_DocumentInit(KML_Document_t *doc) // initializes the kml-document to resetvalues. |
74 | // extern u8 KML_DocumentInit(KML_Document_t *doc) // initializes the kml-document to resetvalues. |
75 | // extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml document. A filename can be specified. |
75 | // extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml document. A filename can be specified. |
76 | // extern u8 KML_DocumentClose(KML_Document_t *doc); // closes an open document |
76 | // extern u8 KML_DocumentClose(KML_Document_t *doc); // closes an open document |
77 | // extern u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *); // opens a new placemark within the specified document |
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 |
78 | // extern u8 KML_PlaceMarkClose(KML_Document_t *); // Closes the placemark |
79 | // extern u8 KML_LineStringBegin(KML_Document_t *); // begins a new line within the actual placemark |
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 |
80 | // extern u8 KML_LineStringEnd(KML_Document_t *doc); // ends the actual linestring |
81 | // extern u8 KML_LineStringAddPoint(struct str_gps_nav_data, KML_Document_t *); // adds a new point (gps-coordinates) to the actual linestring |
81 | // extern u8 KML_LineStringAddPoint(struct str_gps_nav_data, KML_Document_t *); // adds a new point (gps-coordinates) to the actual linestring |
Line 98... | Line 98... | ||
98 | // |
98 | // |
99 | // Returnvalue: '1' if document was initialized |
99 | // Returnvalue: '1' if document was initialized |
100 | //________________________________________________________________________________________________________________________________________ |
100 | //________________________________________________________________________________________________________________________________________ |
Line 101... | Line 101... | ||
101 | 101 | ||
102 | u8 KML_DocumentInit(KML_Document_t *doc) |
102 | u8 KML_DocumentInit(KML_Document_t *doc) |
103 | { |
- | |
104 | doc->name[0] = 0; // name of the document |
103 | { |
105 | doc->state = DOC_CLOSED; // state of the kml-document |
104 | doc->state = KML_DOC_CLOSED; // state of the kml-document |
106 | doc->file = NULL; |
- | |
107 | doc->place.name[0]=0; |
- | |
108 | doc->place.description[0]=0; |
105 | doc->file = NULL; |
109 | return(1); |
106 | return(1); |
Line 110... | Line 107... | ||
110 | } |
107 | } |
111 | 108 | ||
Line 129... | Line 126... | ||
129 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
126 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
Line 130... | Line 127... | ||
130 | 127 | ||
131 | if(doc->file != NULL) // could the file be opened? |
128 | if(doc->file != NULL) // could the file be opened? |
132 | { |
129 | { |
133 | retvalue = 1; // the document could be created on the drive. |
130 | retvalue = 1; // the document could be created on the drive. |
134 | doc->state = DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
131 | doc->state = KML_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
135 | fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML- footer to the document. |
132 | fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML-header to the document. |
Line 136... | Line 133... | ||
136 | } |
133 | } |
137 | 134 | ||
Line 152... | Line 149... | ||
152 | 149 | ||
Line 153... | Line 150... | ||
153 | u8 retvalue = 1; |
150 | u8 retvalue = 1; |
Line 154... | Line 151... | ||
154 | 151 | ||
155 | if(doc == NULL) return(0); |
152 | if(doc == NULL) return(0); |
156 | 153 | ||
157 | while(doc->state != DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
154 | while(doc->state != KML_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
158 | { |
155 | { |
159 | switch(doc->state) |
156 | switch(doc->state) |
160 | { |
- | |
161 | case DOC_LINESTRING_OPENED: |
157 | { |
Line 162... | Line 158... | ||
162 | KML_LineStringEnd(doc); // write terminating tag to end linestring. |
158 | case KML_DOC_LINESTRING_OPENED: |
163 | doc->state = DOC_PLACEMARK_OPENED; |
159 | KML_LineStringEnd(doc); // write terminating tag to end linestring. |
164 | break; |
- | |
165 | 160 | break; |
|
Line 166... | Line 161... | ||
166 | case DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
161 | |
167 | KML_PlaceMarkClose(doc); |
162 | case KML_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
168 | doc->state = DOC_OPENED; |
163 | KML_PlaceMarkClose(doc); |
169 | break; |
164 | break; |
170 | 165 | ||
171 | case DOC_OPENED: // close the file on the memorycard |
166 | case KML_DOC_OPENED: // close the file on the memorycard |
172 | if(doc->file != NULL) |
167 | if(doc->file != NULL) |
173 | { |
168 | { |
174 | fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
169 | fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
Line 175... | Line 170... | ||
175 | fclose_(doc->file); |
170 | fclose_(doc->file); |
176 | retvalue = 1; |
171 | retvalue = 1; |
177 | } |
172 | } |
Line 178... | Line 173... | ||
178 | doc->state = DOC_CLOSED; |
173 | doc->state = KML_DOC_CLOSED; |
179 | break; |
174 | break; |
180 | 175 | ||
181 | default: |
176 | default: |
Line 182... | Line 177... | ||
182 | doc->state = DOC_CLOSED; |
177 | doc->state = KML_DOC_CLOSED; |
183 | break; |
178 | break; |
184 | 179 | ||
185 | } |
180 | } |
186 | } |
181 | } |
187 | return(retvalue); |
182 | return(retvalue); |
188 | } |
183 | } |
189 | 184 | ||
Line 190... | Line 185... | ||
190 | //________________________________________________________________________________________________________________________________________ |
185 | //________________________________________________________________________________________________________________________________________ |
191 | // Function: u8 PlaceMarkOpen(s8 *name, File *file); |
186 | // Function: u8 KML_PlaceMarkOpen(KML_Document_t *doc); |
192 | // |
- | |
193 | // Description: This function adds a placemark to the document. |
187 | // |
194 | // |
- | |
195 | // |
188 | // Description: This function adds a placemark to the document. |
196 | // Returnvalue: '1' if the PlaceMark could be opened |
189 | // |
- | 190 | // |
|
- | 191 | // Returnvalue: '1' if the PlaceMark could be opened |
|
197 | //________________________________________________________________________________________________________________________________________ |
192 | //________________________________________________________________________________________________________________________________________ |
198 | 193 | ||
199 | u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *doc) |
194 | u8 KML_PlaceMarkOpen(KML_Document_t *doc) |
- | 195 | { |
|
200 | { |
196 | u8 retvalue = 0; |
201 | - | ||
202 | u8 retvalue = 0; |
197 | if(doc->state == KML_DOC_OPENED) |
203 | 198 | { |
|
Line 204... | Line 199... | ||
204 | if(doc->file != NULL) |
199 | if(doc->file != NULL) |
205 | { |
200 | { |
Line 223... | Line 218... | ||
223 | u8 KML_PlaceMarkClose(KML_Document_t *doc) |
218 | u8 KML_PlaceMarkClose(KML_Document_t *doc) |
224 | { |
219 | { |
Line 225... | Line 220... | ||
225 | 220 | ||
Line 226... | Line 221... | ||
226 | u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
221 | u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
227 | 222 | ||
228 | if(doc->state == DOC_PLACEMARK_OPENED) |
223 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
229 | { |
224 | { |
230 | if(doc->file != NULL) |
225 | if(doc->file != NULL) |
231 | { |
226 | { |
232 | doc->state = DOC_OPENED; |
227 | doc->state = KML_DOC_OPENED; |
233 | fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
228 | fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
234 | retvalue = 1; |
229 | retvalue = 1; |
Line 250... | Line 245... | ||
250 | u8 KML_LineStringBegin(KML_Document_t *doc) |
245 | u8 KML_LineStringBegin(KML_Document_t *doc) |
251 | { |
246 | { |
Line 252... | Line 247... | ||
252 | 247 | ||
Line 253... | Line 248... | ||
253 | u8 retvalue = 0; |
248 | u8 retvalue = 0; |
254 | 249 | ||
- | 250 | if(doc->state == KML_DOC_PLACEMARK_OPENED) |
|
- | 251 | { |
|
255 | if(doc->file != NULL) |
252 | if(doc->file != NULL) |
256 | { |
253 | { |
257 | doc->state = DOC_LINESTRING_OPENED; |
254 | doc->state = KML_DOC_LINESTRING_OPENED; |
- | 255 | fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
|
258 | fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
256 | retvalue = 1; |
259 | retvalue = 1; |
- | |
260 | } |
257 | } |
261 | 258 | } |
|
Line 262... | Line 259... | ||
262 | return(retvalue); |
259 | return(retvalue); |
263 | } |
260 | } |
264 | 261 | ||
265 | //________________________________________________________________________________________________________________________________________ |
262 | //________________________________________________________________________________________________________________________________________ |
266 | // Function: u8 LineStringEnd(KML_Document_t *doc) |
263 | // Function: u8 KML_LineStringEnd(KML_Document_t *doc) |
267 | // |
264 | // |
268 | // Description: This function ends the placemark opened before. |
265 | // Description: This function ends the placemark opened before. |
Line 274... | Line 271... | ||
274 | u8 KML_LineStringEnd(KML_Document_t *doc) |
271 | u8 KML_LineStringEnd(KML_Document_t *doc) |
275 | { |
272 | { |
Line 276... | Line 273... | ||
276 | 273 | ||
Line 277... | Line 274... | ||
277 | u8 retvalue = 0; |
274 | u8 retvalue = 0; |
278 | - | ||
279 | if(doc->state == DOC_LINESTRING_OPENED); |
275 | |
- | 276 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
|
- | 277 | { |
|
280 | if(doc->file != NULL) |
278 | if(doc->file != NULL) |
281 | { |
279 | { |
282 | doc->state = DOC_PLACEMARK_OPENED; |
280 | doc->state = KML_DOC_PLACEMARK_OPENED; |
- | 281 | fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
|
283 | fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
282 | retvalue = 1; |
284 | retvalue = 1; |
- | |
285 | } |
283 | } |
286 | 284 | } |
|
Line 287... | Line 285... | ||
287 | return(retvalue); |
285 | return(retvalue); |
288 | } |
286 | } |
Line 294... | Line 292... | ||
294 | // |
292 | // |
295 | // |
293 | // |
296 | // Returnvalue: '1' if a ppoint was added could be started |
294 | // Returnvalue: '1' if a ppoint was added could be started |
297 | //________________________________________________________________________________________________________________________________________ |
295 | //________________________________________________________________________________________________________________________________________ |
Line 298... | Line 296... | ||
298 | 296 | ||
299 | u8 KML_LineStringAddPoint(GPS_Pos_t * pGPS_Position ,KML_Document_t *doc) |
297 | u8 KML_LineStringAddPoint(KML_Document_t *doc) |
Line 300... | Line 298... | ||
300 | { |
298 | { |
301 | 299 | ||
302 | u8 retvalue = 0; |
300 | u8 retvalue = 0; |
Line 303... | Line 301... | ||
303 | s8 string[50]; |
301 | s8 string[50]; |
Line 304... | Line 302... | ||
304 | s32 rel_altitude = 0; |
302 | s32 rel_altitude = 0; |
305 | 303 | ||
306 | if(doc == NULL || pGPS_Position == NULL) return(0); |
304 | if(doc == NULL) return(0); |
307 | 305 | ||
308 | if((pGPS_Position->Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
306 | if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
309 | { |
307 | { |
310 | if(doc->state == DOC_LINESTRING_OPENED) |
308 | if(doc->state == KML_DOC_LINESTRING_OPENED) |
311 | { |
309 | { |
312 | if(doc->file != NULL) |
310 | if(doc->file != NULL) |
313 | { |
311 | { |
314 | s32 i1, i2; |
312 | s32 i1, i2; |
315 | u8 sign; |
313 | u8 sign; |
316 | if(pGPS_Position->Longitude < 0) sign = '-'; |
314 | if(GPSData.Position.Longitude < 0) sign = '-'; |
317 | else sign = '+'; |
315 | else sign = '+'; |
318 | i1 = abs(pGPS_Position->Longitude)/10000000L; |
316 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
319 | i2 = abs(pGPS_Position->Longitude)%10000000L; |
317 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
320 | sprintf(string,"\r\n%c%ld.%07ld,",sign, i1, i2); |
318 | sprintf(string,"\r\n%c%ld.%07ld,",sign, i1, i2); |
321 | fputs_(string, doc->file); |
319 | fputs_(string, doc->file); |
322 | if(pGPS_Position->Latitude < 0) sign = '-'; |
320 | if(GPSData.Position.Latitude < 0) sign = '-'; |
323 | else sign = '+'; |
321 | else sign = '+'; |
324 | i1 = abs(pGPS_Position->Latitude)/10000000L; |
322 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
325 | i2 = abs(pGPS_Position->Latitude)%10000000L; |
323 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
326 | sprintf(string,"%c%ld.%07ld,",sign, i1, i2); |
324 | sprintf(string,"%c%ld.%07ld,",sign, i1, i2); |
327 | fputs_(string, doc->file); |
325 | fputs_(string, doc->file); |
328 | // calculate relative altitude with respect to the altitude of the home position |
326 | // calculate relative altitude with respect to the altitude of the home position |
329 | rel_altitude = pGPS_Position->Altitude - GPS_HomePosition.Altitude; |
327 | rel_altitude = GPSData.Position.Altitude - GPS_HomePosition.Altitude; |
330 | if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
328 | if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
Line 347... | Line 345... | ||
347 | // |
345 | // |
348 | // |
346 | // |
349 | // Returnvalue: '1' if an gps coordinate was logged |
347 | // Returnvalue: '1' if an gps coordinate was logged |
350 | //________________________________________________________________________________________________________________________________________ |
348 | //________________________________________________________________________________________________________________________________________ |
Line 351... | Line 349... | ||
351 | 349 | ||
352 | u8 KML_LoggGPSCoordinates(GPS_Pos_t* pGPS_Position, KML_Document_t *doc) |
350 | u8 KML_LoggGPSCoordinates(KML_Document_t *doc) |
353 | { |
351 | { |
354 | u8 retval = 0; |
352 | u8 retval = 0; |
355 | while(doc->state != DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
353 | while(doc->state != KML_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
356 | { |
354 | { |
357 | switch(doc->state) |
355 | switch(doc->state) |
358 | { |
356 | { |
359 | case DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
- | |
360 | KML_DocumentInit(doc); // initialize the document to default values |
357 | case KML_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
361 | retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
- | |
362 | if(retval) |
- | |
363 | { |
- | |
364 | doc->state = DOC_OPENED; |
- | |
365 | } |
358 | retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
Line 366... | Line 359... | ||
366 | break; |
359 | break; |
367 | 360 | ||
368 | case DOC_OPENED: // if a document has been opened before but no placemark exists: |
- | |
369 | retval = KML_PlaceMarkOpen("MIKROKOPTER",doc); |
- | |
370 | if(retval) |
- | |
371 | { |
- | |
372 | doc->state = DOC_PLACEMARK_OPENED; // add a placemark to the document. |
361 | case KML_DOC_OPENED: // if a document has been opened before but no placemark exists: |
Line 373... | Line 362... | ||
373 | } |
362 | retval = KML_PlaceMarkOpen(doc); |
374 | break; |
363 | break; |
375 | - | ||
376 | case DOC_PLACEMARK_OPENED: // add linestring to the placemark |
- | |
377 | retval = KML_LineStringBegin(doc); |
- | |
378 | if(retval) |
- | |
379 | { |
364 | |
Line 380... | Line 365... | ||
380 | doc->state = DOC_LINESTRING_OPENED; |
365 | case KML_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
381 | } |
366 | retval = KML_LineStringBegin(doc); |
382 | break; |
367 | break; |
Line 383... | Line 368... | ||
383 | 368 | ||
384 | default: |
369 | default: |
385 | retval = 1; |
370 | retval = 0; |
Line 386... | Line 371... | ||
386 | break; |
371 | break; |
387 | 372 | ||
388 | } |
373 | } |
389 | if(retval != 1) return(retval); // stop on error |
374 | if(retval != 1) return(retval); // stop on error |
390 | } |
375 | } |
391 | 376 |