mirror of https://github.com/ArduPilot/ardupilot
456 lines
16 KiB
C#
456 lines
16 KiB
C#
|
using System;
|
|||
|
using System.Collections.Generic;
|
|||
|
using System.ComponentModel;
|
|||
|
using System.Data;
|
|||
|
using System.Drawing;
|
|||
|
using System.Text;
|
|||
|
using System.Windows.Forms;
|
|||
|
using System.IO.Ports;
|
|||
|
using System.IO;
|
|||
|
using System.Text.RegularExpressions;
|
|||
|
//using KMLib;
|
|||
|
//using KMLib.Feature;
|
|||
|
//using KMLib.Geometry;
|
|||
|
//using Core.Geometry;
|
|||
|
using ICSharpCode.SharpZipLib.Zip;
|
|||
|
using ICSharpCode.SharpZipLib.Checksums;
|
|||
|
using ICSharpCode.SharpZipLib.Core;
|
|||
|
|
|||
|
using SharpKml.Base;
|
|||
|
using SharpKml.Dom;
|
|||
|
using SharpKml.Dom.GX;
|
|||
|
|
|||
|
using System.Reflection;
|
|||
|
using System.Xml;
|
|||
|
|
|||
|
|
|||
|
namespace ArdupilotMega
|
|||
|
{
|
|||
|
public partial class MavlinkLog : Form
|
|||
|
{
|
|||
|
List<CurrentState> flightdata = new List<CurrentState>();
|
|||
|
|
|||
|
public MavlinkLog()
|
|||
|
{
|
|||
|
InitializeComponent();
|
|||
|
|
|||
|
Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
|
|||
|
}
|
|||
|
|
|||
|
private void writeKML(string filename)
|
|||
|
{
|
|||
|
Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };
|
|||
|
|
|||
|
Document kml = new Document();
|
|||
|
|
|||
|
Tour tour = new Tour();
|
|||
|
tour.Name = "First Person View";
|
|||
|
Playlist tourplaylist = new Playlist();
|
|||
|
|
|||
|
AddNamespace(kml, "gx", "http://www.google.com/kml/ext/2.2");
|
|||
|
|
|||
|
Style style = new Style();
|
|||
|
style.Id = "yellowLineGreenPoly";
|
|||
|
style.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);
|
|||
|
|
|||
|
PolygonStyle pstyle = new PolygonStyle();
|
|||
|
pstyle.Color = new Color32(HexStringToColor("7f00ff00"));
|
|||
|
style.Polygon = pstyle;
|
|||
|
|
|||
|
kml.AddStyle(style);
|
|||
|
|
|||
|
// create sub folders
|
|||
|
Folder planes = new Folder();
|
|||
|
planes.Name = "Planes";
|
|||
|
kml.AddFeature(planes);
|
|||
|
|
|||
|
|
|||
|
// coords for line string
|
|||
|
CoordinateCollection coords = new CoordinateCollection();
|
|||
|
|
|||
|
int a = 1;
|
|||
|
int c = -1;
|
|||
|
DateTime lasttime = DateTime.MaxValue;
|
|||
|
DateTime starttime = DateTime.MinValue;
|
|||
|
Color stylecolor = Color.AliceBlue;
|
|||
|
string mode = "";
|
|||
|
if (flightdata.Count > 0)
|
|||
|
{
|
|||
|
mode = flightdata[0].mode;
|
|||
|
}
|
|||
|
foreach (CurrentState cs in flightdata)
|
|||
|
{
|
|||
|
progressBar1.Value = 50 + (int)((float)a / (float)flightdata.Count * 100.0f / 2.0f);
|
|||
|
progressBar1.Refresh();
|
|||
|
|
|||
|
if (starttime == DateTime.MinValue)
|
|||
|
{
|
|||
|
starttime = cs.datetime;
|
|||
|
lasttime = cs.datetime;
|
|||
|
}
|
|||
|
|
|||
|
if (mode != cs.mode || flightdata.Count == a)
|
|||
|
{
|
|||
|
c++;
|
|||
|
|
|||
|
LineString ls = new LineString();
|
|||
|
ls.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
|
|||
|
ls.Extrude = true;
|
|||
|
|
|||
|
ls.Coordinates = coords;
|
|||
|
|
|||
|
Placemark pm = new Placemark();
|
|||
|
|
|||
|
pm.Name = c + " Flight Path " + mode;
|
|||
|
pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
|
|||
|
pm.Geometry = ls;
|
|||
|
|
|||
|
SharpKml.Dom.TimeSpan ts = new SharpKml.Dom.TimeSpan();
|
|||
|
ts.Begin = starttime;
|
|||
|
ts.End = cs.datetime;
|
|||
|
|
|||
|
pm.Time = ts;
|
|||
|
|
|||
|
// setup for next line
|
|||
|
mode = cs.mode;
|
|||
|
starttime = cs.datetime;
|
|||
|
|
|||
|
stylecolor = colours[c % (colours.Length - 1)];
|
|||
|
|
|||
|
Style style2 = new Style();
|
|||
|
style2.Line = new LineStyle(new Color32(stylecolor), 4);
|
|||
|
|
|||
|
pm.StyleSelector = style2;
|
|||
|
|
|||
|
kml.AddFeature(pm);
|
|||
|
|
|||
|
coords = new CoordinateCollection();
|
|||
|
}
|
|||
|
|
|||
|
coords.Add(new Vector(cs.lat, cs.lng, cs.alt));
|
|||
|
|
|||
|
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
|
|||
|
tstamp.When = cs.datetime;
|
|||
|
|
|||
|
FlyTo flyto = new FlyTo();
|
|||
|
|
|||
|
flyto.Duration = (cs.datetime - lasttime).TotalMilliseconds / 1000.0;
|
|||
|
|
|||
|
flyto.Mode = FlyToMode.Smooth;
|
|||
|
Camera cam = new Camera();
|
|||
|
cam.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
|
|||
|
cam.Latitude = cs.lat;
|
|||
|
cam.Longitude = cs.lng;
|
|||
|
cam.Altitude = cs.alt;
|
|||
|
cam.Heading = cs.yaw;
|
|||
|
cam.Roll = -cs.roll;
|
|||
|
cam.Tilt = (90 - (cs.pitch * -1));
|
|||
|
|
|||
|
cam.GXTimePrimitive = tstamp;
|
|||
|
|
|||
|
flyto.View = cam;
|
|||
|
//if (Math.Abs(flyto.Duration.Value) > 0.1)
|
|||
|
{
|
|||
|
tourplaylist.AddTourPrimitive(flyto);
|
|||
|
lasttime = cs.datetime;
|
|||
|
}
|
|||
|
|
|||
|
|
|||
|
Placemark pmplane = new Placemark();
|
|||
|
pmplane.Name = "Plane " + a;
|
|||
|
|
|||
|
|
|||
|
|
|||
|
pmplane.Time = tstamp;
|
|||
|
|
|||
|
pmplane.Visibility = false;
|
|||
|
|
|||
|
SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
|
|||
|
loc.Latitude = cs.lat;
|
|||
|
loc.Longitude = cs.lng;
|
|||
|
loc.Altitude = cs.alt;
|
|||
|
|
|||
|
SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
|
|||
|
ori.Heading = cs.yaw;
|
|||
|
ori.Roll = -cs.roll;
|
|||
|
ori.Tilt = -cs.pitch;
|
|||
|
|
|||
|
SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
|
|||
|
|
|||
|
sca.X = 2;
|
|||
|
sca.Y = 2;
|
|||
|
sca.Z = 2;
|
|||
|
|
|||
|
Model model = new Model();
|
|||
|
model.Location = loc;
|
|||
|
model.Orientation = ori;
|
|||
|
model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
|
|||
|
model.Scale = sca;
|
|||
|
|
|||
|
try
|
|||
|
{
|
|||
|
Description desc = new Description();
|
|||
|
desc.Text = @"<![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>
|
|||
|
|
|||
|
</table>
|
|||
|
]]>";
|
|||
|
|
|||
|
pmplane.Description = desc;
|
|||
|
}
|
|||
|
catch { }
|
|||
|
|
|||
|
Link link = new Link();
|
|||
|
link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
|
|||
|
|
|||
|
model.Link = link;
|
|||
|
|
|||
|
pmplane.Geometry = model;
|
|||
|
|
|||
|
planes.AddFeature(pmplane);
|
|||
|
|
|||
|
a++;
|
|||
|
}
|
|||
|
|
|||
|
tour.Playlist = tourplaylist;
|
|||
|
|
|||
|
kml.AddFeature(tour);
|
|||
|
|
|||
|
Serializer serializer = new Serializer();
|
|||
|
serializer.Serialize(kml);
|
|||
|
|
|||
|
|
|||
|
//Console.WriteLine(serializer.Xml);
|
|||
|
|
|||
|
StreamWriter sw = new StreamWriter(filename);
|
|||
|
sw.Write(serializer.Xml);
|
|||
|
sw.Close();
|
|||
|
|
|||
|
// create kmz - aka zip file
|
|||
|
|
|||
|
FileStream fs = File.Open(filename.Replace(".tlog.kml", ".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 = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "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();
|
|||
|
flightdata.Clear();
|
|||
|
}
|
|||
|
|
|||
|
static void AddNamespace(Element element, string prefix, string uri)
|
|||
|
{
|
|||
|
// The Namespaces property is marked as internal.
|
|||
|
PropertyInfo property = typeof(Element).GetProperty(
|
|||
|
"Namespaces",
|
|||
|
BindingFlags.Instance | BindingFlags.NonPublic);
|
|||
|
|
|||
|
var namespaces = (XmlNamespaceManager)property.GetValue(element, null);
|
|||
|
namespaces.AddNamespace(prefix, uri);
|
|||
|
}
|
|||
|
|
|||
|
private void Log_FormClosing(object sender, FormClosingEventArgs e)
|
|||
|
{
|
|||
|
|
|||
|
}
|
|||
|
|
|||
|
private void BUT_redokml_Click(object sender, EventArgs e)
|
|||
|
{
|
|||
|
OpenFileDialog openFileDialog1 = new OpenFileDialog();
|
|||
|
openFileDialog1.Filter = "*.tlog|*.tlog";
|
|||
|
openFileDialog1.FilterIndex = 2;
|
|||
|
openFileDialog1.RestoreDirectory = true;
|
|||
|
openFileDialog1.Multiselect = true;
|
|||
|
try
|
|||
|
{
|
|||
|
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
|
|||
|
}
|
|||
|
catch { } // incase dir doesnt exist
|
|||
|
|
|||
|
if (openFileDialog1.ShowDialog() == DialogResult.OK)
|
|||
|
{
|
|||
|
foreach (string logfile in openFileDialog1.FileNames)
|
|||
|
{
|
|||
|
|
|||
|
MAVLink mine = new MAVLink();
|
|||
|
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
|
|||
|
mine.logreadmode = true;
|
|||
|
|
|||
|
MAVLink.packets.Initialize(); // clear
|
|||
|
|
|||
|
CurrentState cs = new CurrentState();
|
|||
|
|
|||
|
float oldlatlngalt = 0;
|
|||
|
|
|||
|
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
|
|||
|
{
|
|||
|
// bar moves to 50 % in this step
|
|||
|
progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 2.0f);
|
|||
|
progressBar1.Refresh();
|
|||
|
|
|||
|
byte[] packet = mine.readPacket();
|
|||
|
|
|||
|
cs.datetime = mine.lastlogread;
|
|||
|
|
|||
|
cs.UpdateCurrentSettings(null, true);
|
|||
|
|
|||
|
try
|
|||
|
{
|
|||
|
if (MainV2.talk != null)
|
|||
|
MainV2.talk.SpeakAsyncCancelAll();
|
|||
|
}
|
|||
|
catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.
|
|||
|
|
|||
|
if ((float)(cs.lat + cs.lng) != oldlatlngalt
|
|||
|
&& cs.lat != 0 && cs.lng != 0)
|
|||
|
{
|
|||
|
Console.WriteLine(cs.lat + " " + cs.lng + " " + cs.alt + " lah " + (float)(cs.lat + cs.lng + cs.alt) + "!=" + oldlatlngalt);
|
|||
|
CurrentState cs2 = (CurrentState)cs.Clone();
|
|||
|
|
|||
|
flightdata.Add(cs2);
|
|||
|
|
|||
|
oldlatlngalt = (cs.lat + cs.lng);
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
mine.logreadmode = false;
|
|||
|
mine.logplaybackfile.Close();
|
|||
|
mine.logplaybackfile = null;
|
|||
|
|
|||
|
|
|||
|
writeKML(logfile + ".kml");
|
|||
|
|
|||
|
|
|||
|
}
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
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;
|
|||
|
}
|
|||
|
|
|||
|
private void BUT_humanreadable_Click(object sender, EventArgs e)
|
|||
|
{
|
|||
|
OpenFileDialog openFileDialog1 = new OpenFileDialog();
|
|||
|
openFileDialog1.Filter = "*.tlog|*.tlog";
|
|||
|
openFileDialog1.FilterIndex = 2;
|
|||
|
openFileDialog1.RestoreDirectory = true;
|
|||
|
openFileDialog1.Multiselect = true;
|
|||
|
try
|
|||
|
{
|
|||
|
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
|
|||
|
}
|
|||
|
catch { } // incase dir doesnt exist
|
|||
|
|
|||
|
if (openFileDialog1.ShowDialog() == DialogResult.OK)
|
|||
|
{
|
|||
|
foreach (string logfile in openFileDialog1.FileNames)
|
|||
|
{
|
|||
|
|
|||
|
MAVLink mine = new MAVLink();
|
|||
|
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
|
|||
|
mine.logreadmode = true;
|
|||
|
|
|||
|
MAVLink.packets.Initialize(); // clear
|
|||
|
|
|||
|
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile)+ Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".txt");
|
|||
|
|
|||
|
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
|
|||
|
{
|
|||
|
// bar moves to 100 % in this step
|
|||
|
progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f);
|
|||
|
|
|||
|
Application.DoEvents();
|
|||
|
|
|||
|
byte[] packet = mine.readPacket();
|
|||
|
string text = "";
|
|||
|
mine.DebugPacket(packet, ref text);
|
|||
|
|
|||
|
sw.Write(text);
|
|||
|
}
|
|||
|
|
|||
|
sw.Close();
|
|||
|
|
|||
|
progressBar1.Value = 100;
|
|||
|
|
|||
|
mine.logreadmode = false;
|
|||
|
mine.logplaybackfile.Close();
|
|||
|
mine.logplaybackfile = null;
|
|||
|
|
|||
|
}
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
}
|
|||
|
}
|