mirror of https://github.com/ArduPilot/ardupilot
343 lines
11 KiB
C#
343 lines
11 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.IO;
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using System.Net;
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using System.Text.RegularExpressions;
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using ICSharpCode.SharpZipLib.Zip;
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using System.Threading;
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namespace ArdupilotMega
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{
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class srtm
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{
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public static string datadirectory;
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static List<string> allhgts = new List<string>();
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static object objlock = new object();
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static Thread requestThread;
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static List<string> queue = new List<string>();
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public static int getAltitude(double lat, double lng, double zoom)
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{
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short alt = 0;
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lat += 0.00083333333333333;
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//lng += 0.0008;
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int x = (int)Math.Floor(lng);
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int y = (int)Math.Floor(lat);
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string ns;
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if (y > 0)
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ns = "N";
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else
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ns = "S";
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string ew;
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if (x > 0)
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ew = "E";
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else
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ew = "W";
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string filename = ns + Math.Abs(y).ToString("00") + ew + Math.Abs(x).ToString("000") + ".hgt";
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string filename2 = "srtm_" + Math.Round((lng + 2.5 + 180) / 5, 0).ToString("00") + "_" + Math.Round((60 - lat + 2.5) / 5, 0).ToString("00") + ".asc";
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try
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{
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if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
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{ // srtm hgt files
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FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open, FileAccess.Read, FileShare.Read);
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float posx = 0;
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float row = 0;
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if (fs.Length <= (1201 * 1201 * 2))
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{
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posx = (int)(((float)(lng - x)) * (1201 * 2));
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row = (int)(((float)(lat - y)) * 1201) * (1201 * 2);
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row = (1201 * 1201 * 2) - row;
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}
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else
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{
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posx = (int)(((float)(lng - x)) * (3601 * 2));
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row = (int)(((float)(lat - y)) * 3601) * (3601 * 2);
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row = (3601 * 3601 * 2) - row;
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}
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if (posx % 2 == 1)
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{
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posx--;
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}
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//Console.WriteLine(filename + " row " + row + " posx" + posx);
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byte[] data = new byte[2];
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fs.Seek((int)(row + posx), SeekOrigin.Begin);
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fs.Read(data, 0, data.Length);
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fs.Close();
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fs.Dispose();
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Array.Reverse(data);
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alt = BitConverter.ToInt16(data, 0);
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return alt;
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}
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else if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename2))
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{
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// this is way to slow - and cacheing it will chew memory 6001 * 6001 * 4 = 144048004 bytes
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FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename2, FileMode.Open, FileAccess.Read);
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StreamReader sr = new StreamReader(fs);
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int nox = 0;
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int noy = 0;
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float left = 0;
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float top = 0;
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int nodata = -9999;
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float cellsize = 0;
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int rowcounter = 0;
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float wantrow = 0;
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float wantcol = 0;
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while (!sr.EndOfStream)
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{
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string line = sr.ReadLine();
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if (line.StartsWith("ncols"))
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{
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nox = int.Parse(line.Substring(line.IndexOf(' ')));
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//hgtdata = new int[nox * noy];
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}
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else if (line.StartsWith("nrows"))
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{
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noy = int.Parse(line.Substring(line.IndexOf(' ')));
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//hgtdata = new int[nox * noy];
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}
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else if (line.StartsWith("xllcorner"))
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{
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left = float.Parse(line.Substring(line.IndexOf(' ')));
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}
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else if (line.StartsWith("yllcorner"))
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{
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top = float.Parse(line.Substring(line.IndexOf(' ')));
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}
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else if (line.StartsWith("cellsize"))
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{
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cellsize = float.Parse(line.Substring(line.IndexOf(' ')));
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}
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else if (line.StartsWith("NODATA_value"))
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{
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nodata = int.Parse(line.Substring(line.IndexOf(' ')));
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}
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else
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{
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string[] data = line.Split(new char[] { ' ' });
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if (data.Length == (nox + 1))
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{
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wantcol = (float)((lng - Math.Round(left, 0)));
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wantrow = (float)((lat - Math.Round(top, 0)));
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wantrow = (int)(wantrow / cellsize);
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wantcol = (int)(wantcol / cellsize);
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wantrow = noy - wantrow;
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if (rowcounter == wantrow)
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{
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Console.WriteLine("{0} {1} {2} {3} ans {4} x {5}", lng, lat, left, top, data[(int)wantcol], (nox + wantcol * cellsize));
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return int.Parse(data[(int)wantcol]);
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}
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rowcounter++;
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}
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}
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}
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return alt;
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}
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else // get something
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{
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if (zoom >= 15)
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{
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if (requestThread == null)
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{
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Console.WriteLine("Getting " + filename);
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queue.Add(filename);
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requestThread = new Thread(requestRunner);
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requestThread.IsBackground = true;
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requestThread.Start();
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}
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else
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{
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lock (objlock)
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{
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if (!queue.Contains(filename))
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{
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Console.WriteLine("Getting " + filename);
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queue.Add(filename);
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}
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}
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}
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}
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}
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}
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catch { alt = 0; }
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return alt;
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}
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static void requestRunner()
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{
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while (true)
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{
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try
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{
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string item = "";
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lock (objlock)
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{
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if (queue.Count > 0)
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{
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item = queue[0];
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}
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}
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if (item != "")
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{
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get3secfile(item);
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lock (objlock)
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{
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queue.Remove(item);
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}
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}
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}
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catch { }
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Thread.Sleep(100);
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}
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}
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static void get3secfile(object name)
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{
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string baseurl = "http://dds.cr.usgs.gov/srtm/version2_1/SRTM3/";
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// check file doesnt already exist
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if (File.Exists(datadirectory + Path.DirectorySeparatorChar + (string)name))
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{
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return;
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}
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List<string> list = getListing(baseurl);
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foreach (string item in list)
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{
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List<string> hgtfiles = getListing(item);
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foreach (string hgt in hgtfiles)
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{
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if (hgt.Contains((string)name))
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{
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// get file
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gethgt(hgt, (string)name);
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return;
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}
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}
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}
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}
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static void gethgt(string url, string filename)
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{
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try
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{
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WebRequest req = HttpWebRequest.Create(url);
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WebResponse res = req.GetResponse();
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Stream resstream = res.GetResponseStream();
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BinaryWriter bw = new BinaryWriter(File.Create(datadirectory + Path.DirectorySeparatorChar + filename + ".zip"));
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byte[] buf1 = new byte[1024];
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while (resstream.CanRead)
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{
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int len = resstream.Read(buf1, 0, 1024);
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if (len == 0)
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break;
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bw.Write(buf1, 0, len);
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}
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bw.Close();
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FastZip fzip = new FastZip();
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fzip.ExtractZip(datadirectory + Path.DirectorySeparatorChar + filename + ".zip", datadirectory, "");
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}
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catch { }
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}
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static List<string> getListing(string url)
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{
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List<string> list = new List<string>();
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try
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{
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WebRequest req = HttpWebRequest.Create(url);
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WebResponse res = req.GetResponse();
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StreamReader resstream = new StreamReader(res.GetResponseStream());
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string data = resstream.ReadToEnd();
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Regex regex = new Regex("href=\"([^\"]+)\"", RegexOptions.IgnoreCase);
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if (regex.IsMatch(data))
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{
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MatchCollection matchs = regex.Matches(data);
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for (int i = 0; i < matchs.Count; i++)
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{
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if (matchs[i].Groups[1].Value.ToString().Contains(".."))
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continue;
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if (matchs[i].Groups[1].Value.ToString().Contains("http"))
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continue;
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list.Add(url.TrimEnd(new char[] { '/', '\\' }) + "/" + matchs[i].Groups[1].Value.ToString());
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}
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}
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}
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catch { }
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return list;
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}
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}
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} |