WebSVN - Projects - Rev 1704 - /FollowMe/branch/FollowMe

/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <stdio.h>
#include "kml.h"
#include "kml_header.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
//________________________________________________________________________________________________________________________________________

uint8_t 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.
//________________________________________________________________________________________________________________________________________

uint8_t KML_DocumentOpen(int8_t *name, KML_Document_t *doc)
{

uint8_t retvalue = 0;
uint16_t i;
int8_t c;
const prog_char *str;

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.
str = KML_DOCUMENT_HEADER; // write the KML-header to the document.
for(i= 0; i < sizeof(KML_DOCUMENT_HEADER)-1; i++)
{
c = (int8_t)pgm_read_byte(str++); // get byte from flash
fputc_(c, doc->file); // and write that to sd-card
}
}
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.
//________________________________________________________________________________________________________________________________________

uint8_t KML_DocumentClose(KML_Document_t *doc)
{

uint8_t retvalue = 1;
uint16_t i;
int8_t c;
const prog_char *str;

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)
{
str = KML_DOCUMENT_FOOTER; // write the KML- footer to the document.
for(i= 0; i < sizeof(KML_DOCUMENT_FOOTER)-1; i++)
{
c = (int8_t)pgm_read_byte(str++); // get byte from flash
fputc_(c, doc->file); // and write that to sd-card
}
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
//________________________________________________________________________________________________________________________________________

uint8_t KML_PlaceMarkOpen(KML_Document_t *doc)
{
uint8_t retvalue = 0;
uint16_t i;
int8_t c;
const prog_char *str;

if(doc->state == KML_DOC_OPENED)
{
if(doc->file != NULL)
{
doc->state = KML_DOC_PLACEMARK_OPENED;
retvalue = 1;
str = KML_PLACEMARK_HEADER;
for(i= 0; i < sizeof(KML_PLACEMARK_HEADER)-1; i++)
{
c = (int8_t)pgm_read_byte(str++); // get byte from flash
fputc_(c, doc->file); // and write that to sd-card
}
}
}
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
//________________________________________________________________________________________________________________________________________

uint8_t KML_PlaceMarkClose(KML_Document_t *doc)
{

uint8_t retvalue = 0;
uint16_t i;
int8_t c;
const prog_char *str;

if(doc->state == KML_DOC_PLACEMARK_OPENED)
{
if(doc->file != NULL)
{
doc->state = KML_DOC_OPENED;
str = KML_PLACEMARK_FOOTER;
for(i= 0; i < sizeof(KML_PLACEMARK_FOOTER)-1; i++)
{
c = (int8_t)pgm_read_byte(str++); // get byte from flash
fputc_(c, doc->file); // and write that to sd-card
}
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
//________________________________________________________________________________________________________________________________________

uint8_t KML_LineStringBegin(KML_Document_t *doc)
{

uint8_t retvalue = 0;
uint16_t i;
int8_t c;
const prog_char *str;

if(doc->state == KML_DOC_PLACEMARK_OPENED)
{
if(doc->file != NULL)
{
doc->state = KML_DOC_LINESTRING_OPENED;
str = KML_LINESTRING_HEADER;
for(i= 0; i < sizeof(KML_LINESTRING_HEADER)-1; i++)
{
c = (int8_t)pgm_read_byte(str++); // get byte from flash
fputc_(c, doc->file); // and write that to sd-card
}
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
//________________________________________________________________________________________________________________________________________

uint8_t KML_LineStringEnd(KML_Document_t *doc)
{

uint8_t retvalue = 0;
uint16_t i;
int8_t c;
const prog_char *str;

if(doc->state == KML_DOC_LINESTRING_OPENED)
{
if(doc->file != NULL)
{
doc->state = KML_DOC_PLACEMARK_OPENED;
str = KML_LINESTRING_FOOTER;
for(i= 0; i < sizeof(KML_LINESTRING_FOOTER)-1; i++)
{
c = (int8_t)pgm_read_byte(str++); // get byte from flash
fputc_(c, doc->file); // and write that to sd-card
}
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
//________________________________________________________________________________________________________________________________________

uint8_t KML_LineStringAddPoint(KML_Document_t *doc)
{

uint8_t retvalue = 0;
int8_t string[50];

if(doc == NULL) return(0);

if(GPSData.Position.Status != INVALID)
{
if(doc->state == KML_DOC_LINESTRING_OPENED)
{
if(doc->file != NULL)
{
int16_t i1, i2, i3;
uint8_t sign;
if(GPSData.Position.Longitude < 0) sign = '-';
else sign = '+';
i1 = abs((int16_t)(GPSData.Position.Longitude/10000000L));
i2 = abs((int16_t)((GPSData.Position.Longitude%10000000L)/10000L));
i3 = abs((int16_t)(((GPSData.Position.Longitude%10000000L)%10000L)/10L));
sprintf(string,"\r\n%c%d.%.3d%.3d,",sign, i1, i2, i3);
fputs_(string, doc->file);
if(GPSData.Position.Latitude < 0) sign = '-';
else sign = '+';
i1 = abs((int16_t)(GPSData.Position.Latitude/10000000L));
i2 = abs((int16_t)((GPSData.Position.Latitude%10000000L)/10000L));
i3 = abs((int16_t)(((GPSData.Position.Latitude%10000000L)%10000L)/10L));
sprintf(string,"%c%d.%.3d%.3d,",sign, i1, i2, i3);
fputs_(string, doc->file);
sign = '+';
sprintf(string,"%c%d.%.3d",sign, 0, 0);
fputs_(string, doc->file);
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
//________________________________________________________________________________________________________________________________________

uint8_t KML_LoggGPSCoordinates(KML_Document_t *doc)
{
uint8_t 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);
}

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