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 <stdio.h>
#include "main.h"
#include "timer0.h"
#include "uart1.h"
#include "kml.h"
#include "gpx.h"
#include "ssc.h"
#include "settings.h"
#include "printf_P.h"

#define LOG_FLUSH_INTERVAL 20000 // 20s

typedef enum
{
LOGFILE_IDLE,
LOGFILE_START,
LOGFILE_CLOSED,
LOGFILE_OPENED,
LOGFILE_ERROR
} logfilestate_t;

// logger handler prototypes
logfilestate_t Logging_KML(uint16_t LogDelay);
//logfilestate_t Logging_GPX(uint16_t LogDelay);

typedef struct
{
uint16_t KML_Interval; // the kml-log interval (0 = off)
uint16_t GPX_Interval; // the gpx-log interval (0 = off)
} LogCfg_t;

LogCfg_t LogCfg = {500 , 1000};

//----------------------------------------------------------------------------------------------------
int8_t* GenerateKMLLogFileName(void)
{
static uint16_t filenum = 0; // file name counter
static int8_t filename[35];
static DateTime_t LastTime = {0,0,0,0,0,0,0,0};

if(SystemTime.Valid)
{
// if the day has been changed
if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day))
{
LastTime.Year = SystemTime.Year;
LastTime.Month = SystemTime.Month;
LastTime.Day = SystemTime.Day;
LastTime.Valid = 1;
filenum = 0; // reset file counter
}
sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);
filenum++;
return filename;
}
else return NULL;
}

//----------------------------------------------------------------------------------------------------
int8_t* GenerateGPXLogFileName(void)
{
static uint16_t filenum = 0; // file name counter
static int8_t filename[35];
static DateTime_t LastTime = {0,0,0,0,0,0,0,0};

if(SystemTime.Valid)
{
// if the day has been changed
if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day))
{
LastTime.Year = SystemTime.Year;
LastTime.Month = SystemTime.Month;
LastTime.Day = SystemTime.Day;
LastTime.Valid = 1;
filenum = 0; // reset file counter
}
sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);
filenum++;
return filename;
}
else return NULL;
}

//----------------------------------------------------------------------------------------------------
// logs the current gps position to a kml file
logfilestate_t Logging_KML(uint16_t LogDelay)
{
static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate
static int8_t* logfilename = NULL; // the pointer to the logfilename
static uint16_t logtimer = 0, flushtimer = 0; // the log update timer
static KML_Document_t logfile; // the logfilehandle

// initialize if LogDelay is zero
if(!LogDelay)
{
switch(logfilestate)
{
case LOGFILE_OPENED:
KML_DocumentClose(&logfile); // try to close it
break;
default:
break;
}
logfilestate = LOGFILE_IDLE;
logfilename = NULL;
KML_DocumentInit(&logfile);
logtimer = SetDelay(0); // set logtimer to now
return logfilestate;
}
// no init
if(CheckDelay(logtimer))
{
logtimer = SetDelay(LogDelay); // standard interval

if(SysState == STATE_SEND_FOLLOWME)
{
switch(logfilestate)
{
case LOGFILE_IDLE:
case LOGFILE_CLOSED:
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))
{
logfilestate = LOGFILE_START;
}
break;
case LOGFILE_START:
// find unused logfile name
do
{ // try to generate a new logfile name
logfilename = GenerateKMLLogFileName();
}while((logfilename != NULL) && fexist_(logfilename));
// if logfilename exist
if(logfilename != NULL)
{
// try to create the log file
if(KML_DocumentOpen(logfilename, &logfile))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
logfilestate = LOGFILE_OPENED; // goto next step
printf("\r\nOpening kml-file: %s\r\n",logfilename);
}
else // could not be openend
{
logfilestate = LOGFILE_ERROR;
printf("\r\nError opening kml-file: %s\r\n", logfilename);
logtimer = SetDelay(10); // try again in open logfile in 10 mili sec
}
}
else
{
logfilestate = LOGFILE_ERROR;
printf("\r\nError getting free kml-file name\r\n");
}
// else retry in next loop
break;
case LOGFILE_OPENED:
// append new gps log data
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))
{
if(!KML_LoggGPSCoordinates(&logfile))
{ // error logging data
printf("\r\nError logging to kml-file\r\n");
KML_DocumentClose(&logfile);
logfilestate = LOGFILE_ERROR;
}
else // sucessfully logged
{
if(CheckDelay(flushtimer))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
fflush_(logfile.file);
}
}

}
break;

case LOGFILE_ERROR:
break;

default:
logfilestate = LOGFILE_IDLE;
break;
}
} // EOF follow me on
else // follow me off
{ // close log file if opened
if(logfilestate == LOGFILE_OPENED)
{
if(KML_DocumentClose(&logfile))
{
printf("\r\nClosing kml-file\r\n");
logfilestate = LOGFILE_CLOSED;
}
else // could not be closed
{
printf("\r\nError closing kml-file\r\n");
logfilestate = LOGFILE_ERROR;
}
}
} //EOF follow me off

} // EOF Check LogTimer

return logfilestate;
}

//----------------------------------------------------------------------------------------------------
// logs gps and state info to a gpx file
logfilestate_t Logging_GPX(uint16_t LogDelay)
{
static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate
static int8_t* logfilename = NULL; // the pointer to the logfilename
static uint16_t logtimer = 0, flushtimer = 0; // the log update timer
static GPX_Document_t logfile; // the logfilehandle

// initialize if LogDelay is zero
if(!LogDelay)
{
switch(logfilestate)
{
case LOGFILE_OPENED:
GPX_DocumentClose(&logfile); // try to close it
break;
default:
break;
}
logfilestate = LOGFILE_IDLE;
logfilename = NULL;
GPX_DocumentInit(&logfile);
logtimer = SetDelay(0); // set logtimer to now
return logfilestate;
}
// no init
if(CheckDelay(logtimer))
{
logtimer = SetDelay(LogDelay); // standard interval

if(SysState == STATE_SEND_FOLLOWME)
{
switch(logfilestate)
{
case LOGFILE_IDLE:
case LOGFILE_CLOSED:
//if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) )
{
logfilestate = LOGFILE_START;
}
break;
case LOGFILE_START:
// find unused logfile name
do
{ // try to generate a new logfile name
logfilename = GenerateGPXLogFileName();
}while((logfilename != NULL) && fexist_(logfilename));
// if logfilename exist
if(logfilename != NULL)
{
// try to create the log file
if(GPX_DocumentOpen(logfilename, &logfile))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
logfilestate = LOGFILE_OPENED; // goto next step
printf("\r\nOpening gpx-file: %s\r\n", logfilename);
}
else // could not be openend
{
logfilestate = LOGFILE_ERROR;
printf("\r\nError opening gpx-file: %s\r\n", logfilename);
logtimer = SetDelay(10); // try again in open logfile in 10 mili sec
}
}
else
{
logfilestate = LOGFILE_ERROR;
printf("\r\nError getting free gpx-file name\r\n");
}
// else retry in next loop
break;
case LOGFILE_OPENED:
// append new gps log data
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))
{
if(!GPX_LoggGPSCoordinates(&logfile))
{ // error logging data
printf("\r\nError logging to gpx-file\r\n");
GPX_DocumentClose(&logfile);
logfilestate = LOGFILE_ERROR;
}
else // successful log
{
if(CheckDelay(flushtimer))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
fflush_(logfile.file);
}
}
}
break;

case LOGFILE_ERROR:
break;

default:
logfilestate = LOGFILE_IDLE;
break;
}
} // EOF follow me on
else // follow me off
{ // close log file if opened
if(logfilestate == LOGFILE_OPENED)
{
if(GPX_DocumentClose(&logfile))
{
printf("\r\nClosing gpx-file\r\n");
logfilestate = LOGFILE_CLOSED;
}
else // could not be closed
{
printf("\r\nError closing gpx-file\r\n");
logfilestate = LOGFILE_ERROR;
}
}
} //EOF follow me off
} // EOF Check LogTimer

return logfilestate;
}

//----------------------------------------------------------------------------------------------------
// initialize logging
void Logging_Init(void)
{
LogCfg.KML_Interval = 500; //default
Settings_GetParamValue(PID_KML_LOGGING, &(LogCfg.KML_Interval)); // overwrite by settings value
Logging_KML(0); // initialize
LogCfg.GPX_Interval = 1000; //default
Settings_GetParamValue(PID_GPX_LOGGING, &(LogCfg.GPX_Interval)); // overwrite by settings value
Logging_GPX(0); // initialize
}

//----------------------------------------------------------------------------------------------------
// gobal logging handler
void Logging_Update(void)
{
static uint16_t logtimer = 0;
static logfilestate_t logstate = LOGFILE_IDLE;

if(SD_SWITCH) // a card is in slot
{
if(CheckDelay(logtimer))
{
logtimer = SetDelay(10); // faster makes no sense
// call the logger handlers if no error has occured
if(logstate != LOGFILE_ERROR) logstate = Logging_KML(LogCfg.KML_Interval);
if(logstate != LOGFILE_ERROR) logstate = Logging_GPX(LogCfg.GPX_Interval);

// a logging error has occured
if(logstate == LOGFILE_ERROR)
{
if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside
{
Logging_Init(); // initialize the logs
logstate = LOGFILE_IDLE;
logtimer = SetDelay(10); // try next log in 10 mili sec
}
else
{ // retry in 5 seconds
logtimer = SetDelay(5000); // try again in 5 sec
}
} //EOF logfile error
} // EOF CheckDelay
}// EOF Card in Slot
}

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(root)/FollowMe/branch/FollowMe_V0.2b/logging.c @ 2012 - Rev 1704