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LogOutput.cs
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using System;
using System.Collections.Generic;
using System.Drawing;
using System.Globalization;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Windows.Forms;
using Core.Geometry;
using ICSharpCode.SharpZipLib.Core;
using ICSharpCode.SharpZipLib.Zip;
using KMLib;
using KMLib.Feature;
using KMLib.Geometry;
using log4net;
using MissionPlanner.Utilities;
namespace MissionPlanner.Log
{
public class LogOutput
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
string lastline = "";
string[] ctunlast = new string[] {"", "", "", "", "", "", "", "", "", "", "", "", "", ""};
string[] ntunlast = new string[] {"", "", "", "", "", "", "", "", "", "", "", "", "", ""};
// wp list
List<PointLatLngAlt> cmd = new List<PointLatLngAlt>();
List<string> cmdraw = new List<string>();
Point3D oldlastpos = new Point3D();
Point3D lastpos = new Point3D();
List<Data> flightdata = new List<Data>();
List<string> gpsrawdata = new List<string>();
Model runmodel = new Model();
List<string> modelist = new List<string>();
SortedDictionary<string, string> paramlist = new SortedDictionary<string, string>();
List<Core.Geometry.Point3D>[] position = new List<Core.Geometry.Point3D>[200];
int positionindex = 0;
private DateTime doevent = DateTime.Now;
DFLog dflog = new DFLog();
public struct Data
{
public Model model;
public string[] ntun;
public string[] ctun;
public DateTime datetime;
public string mode;
}
public List<PointLatLngAlt> PosLatLngAlts = new List<PointLatLngAlt>();
public void processLine(string line)
{
try
{
if (line.Length == 0)
return;
string[] items = line.Split(',', ':');
if (items[0].Contains("FMT"))
{
try
{
dflog.FMTLine(line);
}
catch
{
}
}
if (items[0].Contains("PARM"))
{
try
{
int nameindex = dflog.FindMessageOffset("PARM", "Name");
int valueindex = dflog.FindMessageOffset("PARM", "Value");
paramlist[items[nameindex].Trim()] = items[valueindex].Trim();
} catch
{
}
}
else if (items[0].Contains("CMD")) // "CMD", "QHHHfffffff","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \
{
cmdraw.Add(line);
int cidindex = dflog.FindMessageOffset("CMD", "CId");
if (int.Parse(items[cidindex]) <= (int) MAVLink.MAV_CMD.LAST) // wps
{
int cmdflatindex = dflog.FindMessageOffset("CMD", "Lat");
int cmdlngindex = dflog.FindMessageOffset("CMD", "Lng");
int cmdaltindex = dflog.FindMessageOffset("CMD", "Alt");
int cmdnumindex = dflog.FindMessageOffset("CMD", "CNum");
cmd.Add(new PointLatLngAlt(
double.Parse(items[cmdflatindex], CultureInfo.InvariantCulture),
double.Parse(items[cmdlngindex], CultureInfo.InvariantCulture),
double.Parse(items[cmdaltindex], CultureInfo.InvariantCulture), items[cmdnumindex]));
}
}
else if (items[0].Contains("MOD"))
{
positionindex++;
while (modelist.Count < positionindex + 1)
modelist.Add("");
int nameindex = dflog.FindMessageOffset("MODE", "Mode");
if (nameindex > 0)
{
modelist[positionindex] = items[nameindex];
}
else
{
if (items.Length == 4)
{
modelist[positionindex] = (items[2]);
}
else
{
modelist[positionindex] = (items[1]);
}
}
}
else if (items[0].Contains("GPS") && dflog.logformat.ContainsKey("GPS"))
{
if (items[0].Contains("GPS2"))
return;
if (int.Parse(items[dflog.FindMessageOffset("GPS", "Status")]) < 3)
return;
if (position[positionindex] == null)
position[positionindex] = new List<Point3D>();
double alt = double.Parse(items[dflog.FindMessageOffset("GPS", "Alt")], CultureInfo.InvariantCulture);
if (alt > 40000)
return;
double lng = double.Parse(items[dflog.FindMessageOffset("GPS", "Lng")], CultureInfo.InvariantCulture);
double lat = double.Parse(items[dflog.FindMessageOffset("GPS", "Lat")], CultureInfo.InvariantCulture);
if (lat < -90 || lat > 90)
return;
if (lng < -180 || lng > 180)
return;
position[positionindex].Add(new Point3D(lng, lat, alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
else if (items[0].Contains("POS"))
{
if (dflog.logformat.ContainsKey("POS"))
{
int poslatindex = dflog.FindMessageOffset("POS", "Lat");
int poslngindex = dflog.FindMessageOffset("POS", "Lng");
int posaltindex = dflog.FindMessageOffset("POS", "Alt");
PosLatLngAlts.Add(
new PointLatLngAlt(
double.Parse(items[poslatindex], CultureInfo.InvariantCulture),
double.Parse(items[poslngindex], CultureInfo.InvariantCulture),
double.Parse(items[posaltindex], CultureInfo.InvariantCulture)));
}
}
else if (items[0].Contains("GRAW"))
{
gpsrawdata.Add(line);
}
else if (items[0].Contains("GRXH"))
{
gpsrawdata.Add(line);
}
else if (items[0].Contains("GRXS"))
{
gpsrawdata.Add(line);
}
else if (items[0].Contains("CTUN"))
{
ctunlast = items;
}
else if (items[0].Contains("NTUN"))
{
ntunlast = items;
try
{
// line = "ATT:" + double.Parse(ctunlast[3], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(ctunlast[6], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(items[1], new System.Globalization.CultureInfo("en-US")) * 100;
// items = line.Split(',', ':');
}
catch
{
}
}
else if (items[0].Contains("ATT"))
{
try
{
if (lastpos.X != 0 && oldlastpos.X != lastpos.X && oldlastpos.Y != lastpos.Y)
{
Data dat = new Data();
try
{
dat.datetime = dflog.GetTimeGPS(lastline);
}
catch
{
}
runmodel = new Model();
runmodel.Location.longitude = lastpos.X;
runmodel.Location.latitude = lastpos.Y;
runmodel.Location.altitude = lastpos.Z;
oldlastpos = lastpos;
runmodel.Orientation.roll =
double.Parse(items[dflog.FindMessageOffset("ATT", "Roll")],CultureInfo.InvariantCulture) / -1;
runmodel.Orientation.tilt =
double.Parse(items[dflog.FindMessageOffset("ATT", "Pitch")],CultureInfo.InvariantCulture) / -1;
runmodel.Orientation.heading =
double.Parse(items[dflog.FindMessageOffset("ATT", "Yaw")],CultureInfo.InvariantCulture) / 1;
dat.model = runmodel;
dat.ctun = ctunlast;
dat.ntun = ntunlast;
flightdata.Add(dat);
}
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
catch (Exception)
{
// if items is to short or parse fails.. ignore
}
}
public void writeKMLFirstPerson(string filename)
{
StreamWriter stream = new StreamWriter(File.Open(filename, FileMode.Create));
System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
string header =
"<?xml version=\"1.0\" encoding=\"UTF-8\"?><kml xmlns=\"http://www.opengis.net/kml/2.2\" xmlns:gx=\"http://www.google.com/kml/ext/2.2\" xmlns:kml=\"http://www.opengis.net/kml/2.2\" xmlns:atom=\"http://www.w3.org/2005/Atom\">\n <Document> <name>Paths</name> <description>Path</description>\n <Style id=\"yellowLineGreenPoly\"> <LineStyle> <color>7f00ffff</color> <width>4</width> </LineStyle> <PolyStyle> <color>7f00ff00</color> </PolyStyle> </Style>\n ";
stream.Write(header);
StringBuilder kml = new StringBuilder();
StringBuilder data = new StringBuilder();
double lastlat = 0;
double lastlong = 0;
int gpspackets = 0;
int lastgpspacket = 0;
foreach (Data mod in flightdata)
{
if (mod.model.Location.latitude == 0)
continue;
gpspackets++;
if (lastlat == mod.model.Location.latitude && lastlong == mod.model.Location.longitude)
continue;
// double speed 0.05 - assumeing 10hz in log file
// 1 speed = 0.1 10 / 1 = 0.1
data.Append(@"
<gx:FlyTo>
<gx:duration>" + ((gpspackets - lastgpspacket)*0.1).ToString(new System.Globalization.CultureInfo("en-US")) + @"</gx:duration>
<gx:flyToMode>smooth</gx:flyToMode>
<Camera>
<longitude>" + mod.model.Location.longitude.ToString(new System.Globalization.CultureInfo("en-US")) +
@"</longitude>
<latitude>" + mod.model.Location.latitude.ToString(new System.Globalization.CultureInfo("en-US")) +
@"</latitude>
<altitude>" + mod.model.Location.altitude.ToString(new System.Globalization.CultureInfo("en-US")) +
@"</altitude>
<roll>" + mod.model.Orientation.roll.ToString(new System.Globalization.CultureInfo("en-US")) + @"</roll>
<tilt>" + (90 - mod.model.Orientation.tilt).ToString(new System.Globalization.CultureInfo("en-US")) +
@"</tilt>
<heading>" + mod.model.Orientation.heading.ToString(new System.Globalization.CultureInfo("en-US")) +
@"</heading>
<altitudeMode>absolute</altitudeMode>
</Camera>
</gx:FlyTo>
");
lastlat = mod.model.Location.latitude;
lastlong = mod.model.Location.longitude;
lastgpspacket = gpspackets;
}
kml.Append(@"
<Folder>
<name>Flight</name>
<gx:Tour>
<name>Flight Do</name>
<gx:Playlist>
" + data +
@"</gx:Playlist>
</gx:Tour>
</Folder>
</Document>
</kml>
");
stream.Write(kml.ToString());
stream.Close();
// create kmz - aka zip file
FileStream fs = File.Open(filename.Replace(".log-fp.kml", "-fp.kmz"), FileMode.Create);
ZipOutputStream zipStream = new ZipOutputStream(fs);
zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
zipStream.UseZip64 = UseZip64.Off; // older zipfile
// entry 1
string entryName = ZipEntry.CleanName(Path.GetFileName(filename));
// Removes drive from name and fixes slash direction
ZipEntry newEntry = new ZipEntry(entryName);
newEntry.DateTime = DateTime.Now;
zipStream.PutNextEntry(newEntry);
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
byte[] buffer = new byte[4096];
using (FileStream streamReader = File.OpenRead(filename))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
File.Delete(filename);
filename = Settings.GetRunningDirectory() +
"block_plane_0.dae";
// entry 2
entryName = ZipEntry.CleanName(Path.GetFileName(filename));
// Removes drive from name and fixes slash direction
newEntry = new ZipEntry(entryName);
newEntry.DateTime = DateTime.Now;
zipStream.PutNextEntry(newEntry);
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
buffer = new byte[4096];
using (FileStream streamReader = File.OpenRead(filename))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
zipStream.IsStreamOwner = true; // Makes the Close also Close the underlying stream
zipStream.Close();
positionindex = 0;
modelist.Clear();
flightdata.Clear();
position = new List<Core.Geometry.Point3D>[200];
cmd.Clear();
cmdraw.Clear();
}
public void writeGPX(string filename)
{
System.Xml.XmlTextWriter xw =
new System.Xml.XmlTextWriter(
Path.GetDirectoryName(filename) + Path.DirectorySeparatorChar +
Path.GetFileNameWithoutExtension(filename) + ".gpx", Encoding.ASCII);
xw.WriteStartElement("gpx");
xw.WriteAttributeString("creator", MainV2.instance.Text);
xw.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
xw.WriteStartElement("trk");
xw.WriteStartElement("trkseg");
DateTime start = new DateTime(DateTime.Now.Year, DateTime.Now.Month, DateTime.Now.Day, 0, 0, 0);
foreach (Data mod in flightdata)
{
xw.WriteStartElement("trkpt");
xw.WriteAttributeString("lat",
mod.model.Location.latitude.ToString(new System.Globalization.CultureInfo("en-US")));
xw.WriteAttributeString("lon",
mod.model.Location.longitude.ToString(new System.Globalization.CultureInfo("en-US")));
xw.WriteElementString("ele",
mod.model.Location.altitude.ToString(new System.Globalization.CultureInfo("en-US")));
xw.WriteElementString("time", mod.datetime.ToString("yyyy-MM-ddTHH:mm:sszzzzzz"));
xw.WriteElementString("course",
(mod.model.Orientation.heading).ToString(new System.Globalization.CultureInfo("en-US")));
xw.WriteElementString("roll",
mod.model.Orientation.roll.ToString(new System.Globalization.CultureInfo("en-US")));
xw.WriteElementString("pitch",
mod.model.Orientation.tilt.ToString(new System.Globalization.CultureInfo("en-US")));
xw.WriteElementString("mode", mod.mode);
//xw.WriteElementString("speed", mod.model.Orientation.);
//xw.WriteElementString("fix", mod.model.Location.altitude);
xw.WriteEndElement();
}
xw.WriteEndElement(); // trkseg
xw.WriteEndElement(); // trk
int a = 0;
foreach (Data mod in flightdata)
{
xw.WriteStartElement("wpt");
xw.WriteAttributeString("lat",
mod.model.Location.latitude.ToString(new System.Globalization.CultureInfo("en-US")));
xw.WriteAttributeString("lon",
mod.model.Location.longitude.ToString(new System.Globalization.CultureInfo("en-US")));
xw.WriteElementString("name", (a++).ToString());
xw.WriteEndElement(); //wpt
}
xw.WriteEndElement(); // gpx
xw.Close();
}
public static DateTime GetFromGps(int weeknumber, double seconds)
{
DateTime datum = new DateTime(1980, 1, 6, 0, 0, 0, DateTimeKind.Utc);
DateTime week = datum.AddDays(weeknumber*7);
DateTime time = week.AddSeconds(seconds);
return time;
}
public void writeWPFile(string basefilename)
{
int fileindex = 0;
double currenttotaltarget = -1;
double lastseenwpno = -1;
StreamWriter sw = null;
foreach (string line in cmdraw)
{
string[] items = line.Split(',', ':');
var CTot = double.Parse(items[dflog.FindMessageOffset("CMD", "CTot")], CultureInfo.InvariantCulture);
var CNum = double.Parse(items[dflog.FindMessageOffset("CMD", "CNum")], CultureInfo.InvariantCulture);
// if the total changes we are in a new upload, or if the current wpno is less than the last seen wpno
if (CTot != currenttotaltarget || CNum < lastseenwpno)
{
currenttotaltarget = CTot;
// close old if we need to
if (sw != null)
sw.Close();
// new filename
string file = Path.GetDirectoryName(basefilename) + Path.DirectorySeparatorChar +
Path.GetFileNameWithoutExtension(basefilename) + fileindex + "wp.txt";
fileindex++;
// create a new file
sw = new StreamWriter(file);
sw.WriteLine("QGC WPL 110");
}
lastseenwpno = CNum;
var CId = double.Parse(items[dflog.FindMessageOffset("CMD", "CId")], CultureInfo.InvariantCulture);
var Prm1 = double.Parse(items[dflog.FindMessageOffset("CMD", "Prm1")], CultureInfo.InvariantCulture);
var Prm2 = double.Parse(items[dflog.FindMessageOffset("CMD", "Prm2")], CultureInfo.InvariantCulture);
var Prm3 = double.Parse(items[dflog.FindMessageOffset("CMD", "Prm3")], CultureInfo.InvariantCulture);
var Prm4 = double.Parse(items[dflog.FindMessageOffset("CMD", "Prm4")], CultureInfo.InvariantCulture);
var Lat = double.Parse(items[dflog.FindMessageOffset("CMD", "Lat")], CultureInfo.InvariantCulture);
var Lng = double.Parse(items[dflog.FindMessageOffset("CMD", "Lng")], CultureInfo.InvariantCulture);
var Alt = double.Parse(items[dflog.FindMessageOffset("CMD", "Alt")], CultureInfo.InvariantCulture);
sw.WriteLine("{0}\t{1}\t{2}\t{3}\t{4}\t{5}\t{6}\t{7}\t{8}\t{9}\t{10}\t{11}", CNum, 0, 3/*relative*/, CId, Prm1, Prm2, Prm3, Prm4, Lat, Lng, Alt, 1);
}
if (sw != null)
sw.Close();
}
public void writeRinex(string filename)
{
if (gpsrawdata.Count == 0)
return;
string file = Path.GetDirectoryName(filename) + Path.DirectorySeparatorChar +
Path.GetFileNameWithoutExtension(filename) + ".obs";
var rinexoutput = new StreamWriter(file);
// 60 chars
string header = @" 3.02 OBSERVATION DATA M: Mixed RINEX VERSION / TYPE
MARKER NAME
MARKER NUMBER
MARKER TYPE
OBSERVER / AGENCY
REC # / TYPE / VERS
ANT # / TYPE
0.0000 0.0000 0.0000 APPROX POSITION XYZ
0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
G 4 C1C L1C D1C S1C SYS / # / OBS TYPES
S 4 C1C L1C D1C S1C SYS / # / OBS TYPES
R 4 C1C L1C D1C S1C SYS / # / OBS TYPES
E 4 C1C L1C D1C S1C SYS / # / OBS TYPES
G SYS / PHASE SHIFT
END OF HEADER ";
rinexoutput.WriteLine(header);
/*
{ LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
690 "GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli" }, \
+ { LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
692 + "GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat" }, \
693 + { LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
694 + "GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk" }, \
*/
/*
GNSS Identifiers
gnssId GNSS Type
0 GPS
1 SBAS
2 Galileo
3 BeiDou
4 IMES
5 QZSS
6 GLONASS
*/
//ftp://igs.org/pub/data/format/rinex302.pdf
//https://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_(UBX-13003221)_Public.pdf
DateTime lastgpstime = DateTime.MinValue;
double weekms = 0, NSats = 0;
int week = 0;
foreach (string line in gpsrawdata)
{
string sattype = "G";
string[] items = line.Split(',', ':');
double sv = -1, cpMes = -1, prMes = -1, doMes = -1, mesQI = -1, cno = -1, lli = -1;
int gnss = 0;
if (items[0].StartsWith("GRAW"))
{
weekms = double.Parse(items[dflog.FindMessageOffset("GRAW", "WkMS")], CultureInfo.InvariantCulture);
week = int.Parse(items[dflog.FindMessageOffset("GRAW", "Week")], CultureInfo.InvariantCulture);
NSats = double.Parse(items[dflog.FindMessageOffset("GRAW", "numSV")], CultureInfo.InvariantCulture);
sv = double.Parse(items[dflog.FindMessageOffset("GRAW", "sv")], CultureInfo.InvariantCulture);
cpMes = double.Parse(items[dflog.FindMessageOffset("GRAW", "cpMes")], CultureInfo.InvariantCulture);
prMes = double.Parse(items[dflog.FindMessageOffset("GRAW", "prMes")], CultureInfo.InvariantCulture);
doMes = double.Parse(items[dflog.FindMessageOffset("GRAW", "doMes")], CultureInfo.InvariantCulture);
mesQI = double.Parse(items[dflog.FindMessageOffset("GRAW", "mesQI")], CultureInfo.InvariantCulture);
cno = double.Parse(items[dflog.FindMessageOffset("GRAW", "cno")], CultureInfo.InvariantCulture);
lli = double.Parse(items[dflog.FindMessageOffset("GRAW", "lli")], CultureInfo.InvariantCulture);
if (sv > 32)
gnss = 1;
}
else if (items[0].StartsWith("GRXH"))
{
weekms =
double.Parse(items[dflog.FindMessageOffset("GRXH", "rcvTime")], CultureInfo.InvariantCulture)*
1000.0;
week = int.Parse(items[dflog.FindMessageOffset("GRXH", "week")], CultureInfo.InvariantCulture);
NSats = double.Parse(items[dflog.FindMessageOffset("GRXH", "numMeas")], CultureInfo.InvariantCulture);
continue;
}
else if (items[0].StartsWith("GRXS"))
{
sv = double.Parse(items[dflog.FindMessageOffset("GRXS", "sv")], CultureInfo.InvariantCulture);
cpMes = double.Parse(items[dflog.FindMessageOffset("GRXS", "cpMes")], CultureInfo.InvariantCulture);
prMes = double.Parse(items[dflog.FindMessageOffset("GRXS", "prMes")], CultureInfo.InvariantCulture);
doMes = double.Parse(items[dflog.FindMessageOffset("GRXS", "doMes")], CultureInfo.InvariantCulture);
gnss = int.Parse(items[dflog.FindMessageOffset("GRXS", "gnss")], CultureInfo.InvariantCulture);
cno = double.Parse(items[dflog.FindMessageOffset("GRXS", "cno")], CultureInfo.InvariantCulture);
double locktime = double.Parse(items[dflog.FindMessageOffset("GRXS", "lock")],
CultureInfo.InvariantCulture);
lli = 0; // OK or not known
}
DateTime gpstime = GetFromGps(week, weekms/1000.0);
if (week == 0)
continue;
if (lastgpstime != gpstime)
{
rinexoutput.WriteLine("> {0,4} {1,2} {2,2} {3,2} {4,2}{5,11} {6,1}{7,3}", gpstime.Year,
gpstime.Month,
gpstime.Day, gpstime.Hour, gpstime.Minute,
(gpstime.Second + (gpstime.Millisecond/1000.0)).ToString("0.0000000",
System.Globalization.CultureInfo.InvariantCulture), 0, NSats);
lastgpstime = gpstime;
}
if (gnss == 0)
{
//GPS
sattype = "G";
}
if (gnss == 1)
{
//sbas
sattype = "S";
sv -= 100;
}
if (gnss == 2)
{
//Galileo
sattype = "E";
}
if (gnss == 3)
{
//BEIDOU
sattype = "C";
}
if (gnss == 4)
{
//IMES
sattype = "I";
}
if (gnss == 5)
{
//QZSS
sattype = "J";
sv -= 192; // check this (100 or 192)
}
if (gnss == 6)
{
//GLONASS
sattype = "R";
}
if (sv <= 0)
continue;
var sn_rnx = Math.Min(Math.Max((int)(cno / 6), 1), 9);
// a1,i2.2,satcount*(f14.3,i1,i1)
rinexoutput.WriteLine("{0}{1,2}{2,14}{3,1}{4,1}{5,14}{6,1}{7,1}{8,14}{9,1}{10,1}{11,14}{12,1}{13,1}", sattype, (sv).ToString("00"),
(prMes).ToString("0.000", System.Globalization.CultureInfo.InvariantCulture),
lli,sn_rnx,
(cpMes).ToString("0.000", System.Globalization.CultureInfo.InvariantCulture),
" ", " ",
doMes,
" ", " ",
(cno).ToString("0.000", System.Globalization.CultureInfo.InvariantCulture),
" ", " "
);
}
rinexoutput.Close();
}
/// <summary>
/// abgr
/// </summary>
/// <param name="hexColor"></param>
/// <returns></returns>
public static Color HexStringToColor(string hexColor)
{
string hc = (hexColor);
if (hc.Length != 8)
{
// you can choose whether to throw an exception
//throw new ArgumentException("hexColor is not exactly 6 digits.");
return Color.Empty;
}
string a = hc.Substring(0, 2);
string r = hc.Substring(6, 2);
string g = hc.Substring(4, 2);
string b = hc.Substring(2, 2);
Color color = Color.Empty;
try
{
int ai
= Int32.Parse(a, System.Globalization.NumberStyles.HexNumber);
int ri
= Int32.Parse(r, System.Globalization.NumberStyles.HexNumber);
int gi
= Int32.Parse(g, System.Globalization.NumberStyles.HexNumber);
int bi
= Int32.Parse(b, System.Globalization.NumberStyles.HexNumber);
color = Color.FromArgb(ai, ri, gi, bi);
}
catch
{
// you can choose whether to throw an exception
//throw new ArgumentException("Conversion failed.");
return Color.Empty;
}
return color;
}
public bool IsClockwise(IList<Point3D> vertices)
{
double sum = 0.0;
for (int i = 0; i < vertices.Count; i++)
{
Point3D v1 = vertices[i];
Point3D v2 = vertices[(i + 1)%vertices.Count];
sum += (v2.X - v1.X)*(v2.Y + v1.Y);
}
return sum > 0.0;
}
public void writeKML(string filename)
{
try
{
writeGPX(filename);
}
catch
{ }
try
{
writeRinex(filename);
}
catch
{ }
try
{
writeWPFile(filename);
}
catch
{ }
try
{
writeParamFile(filename);
}
catch
{ }
Color[] colours =
{
Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo,
Color.Violet, Color.Pink
};
AltitudeMode altmode = AltitudeMode.absolute;
KMLRoot kml = new KMLRoot();
Folder fldr = new Folder("Log");
Style style = new Style();
style.Id = "yellowLineGreenPoly";
style.Add(new LineStyle(HexStringToColor("7f00ffff"), 4));
Style style1 = new Style();
style1.Id = "spray";
style1.Add(new LineStyle(HexStringToColor("4c0000ff"), 0));
style1.Add(new PolyStyle() { Color = HexStringToColor("4c0000ff") });
PolyStyle pstyle = new PolyStyle();
pstyle.Color = HexStringToColor("7f00ff00");
style.Add(pstyle);
kml.Document.AddStyle(style);
kml.Document.AddStyle(style1);
int stylecode = 0xff;
int g = -1;
foreach (List<Point3D> poslist in position)
{
g++;
if (poslist == null)
continue;
/*
List<PointLatLngAlt> pllalist = new List<PointLatLngAlt>();
foreach (var point in poslist)
{
pllalist.Add(new PointLatLngAlt(point.Y, point.X, point.Z, ""));
}
var ans = Utilities.LineOffset.GetPolygon(pllalist, 2);
while (ans.Count > 0)
{
var first = ans[0];
var second = ans[1];
var secondlast = ans[ans.Count - 2];
var last = ans[ans.Count-1];
ans.Remove(first);
ans.Remove(last);
var polycoords = new BoundaryIs();
polycoords.LinearRing = new LinearRing();
polycoords.LinearRing.Coordinates.Add(new Point3D(first.Lng, first.Lat, 1));
polycoords.LinearRing.Coordinates.Add(new Point3D(second.Lng, second.Lat, 1));
polycoords.LinearRing.Coordinates.Add(new Point3D(secondlast.Lng, secondlast.Lat, 1));
polycoords.LinearRing.Coordinates.Add(new Point3D(last.Lng, last.Lat, 1));
polycoords.LinearRing.Coordinates.Add(new Point3D(first.Lng, first.Lat, 1));
//if (!IsClockwise(polycoords.LinearRing.Coordinates))
// polycoords.LinearRing.Coordinates.Reverse();
Polygon kmlpoly = new Polygon() { AltitudeMode = AltitudeMode.relativeToGround, Extrude = false, OuterBoundaryIs = polycoords };
Placemark pmpoly = new Placemark();
pmpoly.Polygon = kmlpoly;
pmpoly.name = g + " test";
pmpoly.styleUrl = "#spray";
fldr.Add(pmpoly);
}
*/
LineString ls = new LineString();
ls.AltitudeMode = altmode;
ls.Extrude = true;
//ls.Tessellate = true;
Coordinates coords = new Coordinates();
coords.AddRange(poslist);
ls.coordinates = coords;
Placemark pm = new Placemark();
string mode = "";
if (g < modelist.Count)
mode = modelist[g];
pm.name = g + " Flight Path " + mode;
pm.styleUrl = "#yellowLineGreenPoly";
pm.LineString = ls;
stylecode = colours[g % (colours.Length - 1)].ToArgb();
Style style2 = new Style();
Color color = Color.FromArgb(0xff, (stylecode >> 16) & 0xff, (stylecode >> 8) & 0xff,
(stylecode >> 0) & 0xff);
log.Info("colour " + color.ToArgb().ToString("X") + " " + color.ToKnownColor().ToString());
style2.Add(new LineStyle(color, 4));
pm.AddStyle(style2);
fldr.Add(pm);
}
Placemark pmPOS = new Placemark();
pmPOS.name = "POS Message";
pmPOS.LineString = new LineString();
pmPOS.LineString.coordinates = new Coordinates();
Point3D lastPoint3D = new Point3D();
PointLatLngAlt lastplla = PointLatLngAlt.Zero;
foreach (var item in PosLatLngAlts)
{
var newpoint = new Point3D(item.Lng, item.Lat, item.Alt);
if (item.GetDistance(lastplla) < 0.1 &&
lastPoint3D.Z >= (newpoint.Z - 0.3) &&
lastPoint3D.Z <= (newpoint.Z + 0.3))
continue;
pmPOS.LineString.coordinates.Add(newpoint);
lastPoint3D = newpoint;
lastplla = item;
if (pmPOS.LineString.coordinates.Count > 20000)
{
//add current
pmPOS.AddStyle(style);
fldr.Add(pmPOS);
// create new
pmPOS = new Placemark();
pmPOS.name = "POS Message - extra";
pmPOS.LineString = new LineString();
pmPOS.LineString.coordinates = new Coordinates();
lastPoint3D = new Point3D();
lastplla = PointLatLngAlt.Zero;
}
}
pmPOS.AddStyle(style);
fldr.Add(pmPOS);
Folder planes = new Folder();
planes.name = "Planes";
fldr.Add(planes);
Folder waypoints = new Folder();
waypoints.name = "Waypoints";
fldr.Add(waypoints);
LineString lswp = new LineString();
lswp.AltitudeMode = AltitudeMode.relativeToGround;
lswp.Extrude = true;
Coordinates coordswp = new Coordinates();
foreach (PointLatLngAlt p1 in cmd)
{
if (p1.Lng == 0 && p1.Lat == 0)
continue;
coordswp.Add(new Point3D(p1.Lng, p1.Lat, p1.Alt));
}
lswp.coordinates = coordswp;
Placemark pmwp = new Placemark();
pmwp.name = "Waypoints";
//pm.styleUrl = "#yellowLineGreenPoly";
pmwp.LineString = lswp;
if (coordswp.Count > 0)
waypoints.Add(pmwp);
int a = 0;
int l = -1;
Model lastmodel = null;
foreach (Data mod in flightdata)
{
l++;
if (mod.model.Location.latitude == 0)
continue;
if (lastmodel != null)
{
if (lastmodel.Location.Equals(mod.model.Location))
{
continue;
}
}
Placemark pmplane = new Placemark();
pmplane.name = "Plane " + a;
pmplane.visibility = false;
Model model = mod.model;
model.AltitudeMode = altmode;
model.Scale.x = 2;
model.Scale.y = 2;
model.Scale.z = 2;
try
{
pmplane.description = @"<![CDATA[
<table>
<tr><td>Roll: " + model.Orientation.roll + @" </td></tr>
<tr><td>Pitch: " + model.Orientation.tilt + @" </td></tr>
<tr><td>Yaw: " + model.Orientation.heading + @" </td></tr>
<tr><td>WP dist " + mod.ntun[2] + @" </td></tr>
<tr><td>tar bear " + mod.ntun[3] + @" </td></tr>
<tr><td>nav bear " + mod.ntun[4] + @" </td></tr>
<tr><td>alt error " + mod.ntun[5] + @" </td></tr>
</table>
]]>";
}
catch
{
}
try
{
pmplane.Point = new KmlPoint((float)model.Location.longitude, (float)model.Location.latitude,
(float)model.Location.altitude);