public string Write(Guid listGuid)
{
string kml = string.Empty;
Serializer serializer = new Serializer();
Kml _kml = new Kml();
Folder folder = new Folder();
UseWeb(spWeb =>
{
SPList list = spWeb.Lists.GetList(listGuid, true);
SPField field = list.GetGeoField();
if (field != null)
{
foreach (SPListItem item in list.Items)
{
string wkt = item[field.Id] as string;
SimpleWKTReader wktReader = new SimpleWKTReader();
var simpleGeometry = wktReader.Parse(wkt);
if (simpleGeometry.GeometryType == GeometryTypes.Point)
{
var _point = (OpenSMIL.Server.SimpleFeature.GeomtryTypes.Point)simpleGeometry;
SharpKml.Dom.Point point = new SharpKml.Dom.Point();
point.Coordinate = new Vector(_point.Lat, _point.Lon);
Placemark placemark = CreatePlaceMark(item.Title, point);
folder.AddFeature(placemark);
}
else if (simpleGeometry.GeometryType == GeometryTypes.LineString)
{
var _lineString = (OpenSMIL.Server.SimpleFeature.GeomtryTypes.LineString)simpleGeometry;
SharpKml.Dom.LineString line = new SharpKml.Dom.LineString();
line.Coordinates = CreateCoordinateCollection(_lineString.Points);
Placemark placeMark = CreatePlaceMark(item.Title, line);
folder.AddFeature(placeMark);
}
else if (simpleGeometry.GeometryType == GeometryTypes.Polygon)
{
var _polygon = (OpenSMIL.Server.SimpleFeature.GeomtryTypes.Polygon)simpleGeometry;
OuterBoundary outerBoundary = new OuterBoundary();
outerBoundary.LinearRing = new LinearRing();
outerBoundary.LinearRing.Coordinates = CreateCoordinateCollection(_polygon.Points);
SharpKml.Dom.Polygon polygon = new SharpKml.Dom.Polygon();
polygon.OuterBoundary = outerBoundary;
polygon.Extrude = true;
Placemark placeMark = CreatePlaceMark(item.Title, polygon);
folder.AddFeature(placeMark);
}
}
_kml.Feature = folder;
}
});
serializer.Serialize(_kml);
return serializer.Xml;
}
public static void Run()
{
var point = new sd.Point
{
Coordinate = new sb.Vector(37.42052549, -122.0816695)
};
var placemark = new sd.Placemark
{
Name = "Да круто",
Geometry = point
};
var point1 = new sd.Point
{
Coordinate = new sb.Vector(37.419837, -122.078902)
};
var placemark1 = new sd.Placemark
{
Name = "Да круто",
Geometry = point1
};
var document = new sd.Document
{
Description = new sd.Description {
Text = "Документ"
}
};
var kml = new sd.Kml
{
Feature = document
};
var folder = new sd.Folder
{
Description = new sd.Description {
Text = "Светофоры"
},
Name = "СО"
};
folder.AddFeature(placemark);
document.AddFeature(folder);
document.AddFeature(placemark1);
//var serializer = new sb.Serializer();
//using FileStream fileStream = new FileStream("kmlTest.kml", FileMode.OpenOrCreate);
//serializer.Serialize(kml, fileStream);
var kmlFile = KmlFile.Create(kml, true);
//using KmzFile kmz = SaveKmlAndLinkedContentIntoAKmzArchive(kmlFile, OutputPath);
//using Stream output = File.Create(OutputPath);
//kmz.Save(output);
//Console.WriteLine("Saved to '{0}'.", OutputPath);
//Console.ReadKey();
}
private async Task <Placemark> GetUnit(RenderEntry data)
{
if (!data.Entry.Where.Latitude.HasValue || !data.Entry.Where.Longtitude.HasValue)
{
return(null);
}
var latitude = data.Entry.Where.Latitude.Value;
var longtitude = data.Entry.Where.Longtitude.Value;
var point = new SharpKml.Dom.Point
{
Coordinate = new SharpKml.Base.Vector(latitude, longtitude),
};
var placemark = new Placemark
{
Geometry = point,
Name = data.Entry.ToString() + " Location",
Time = GetTimespan(data.Entry.When),
Description = await GetDescription(data),
StyleUrl = GetStyle("location", 1.0, data.Color)
};
return(placemark);
}
private void ProcessPointGeometry(Point f)
{
var coords = new Coordinate(f.Coordinate.Longitude, f.Coordinate.Latitude);
var pGeom = _geometryFactory.CreatePoint(coords);
AddGeometryToCollection(f.GetParent <Placemark>(), pGeom);
}
public string Write(Guid listGuid)
{
string kml = string.Empty;
Serializer serializer = new Serializer();
Kml _kml = new Kml();
Folder folder = new Folder();
UseWeb(spWeb =>
{
SPList list = spWeb.Lists.GetList(listGuid, true);
SPField field = list.GetGeoField();
if (field != null)
{
foreach (SPListItem item in list.Items)
{
string wkt = item[field.Id] as string;
SimpleWKTReader wktReader = new SimpleWKTReader();
var simpleGeometry = wktReader.Parse(wkt);
if (simpleGeometry.GeometryType == GeometryTypes.Point)
{
var _point = (OpenSMIL.Server.SimpleFeature.GeomtryTypes.Point)simpleGeometry;
SharpKml.Dom.Point point = new SharpKml.Dom.Point();
point.Coordinate = new Vector(_point.Lat, _point.Lon);
Placemark placemark = CreatePlaceMark(item.Title, point);
folder.AddFeature(placemark);
}
else if (simpleGeometry.GeometryType == GeometryTypes.LineString)
{
var _lineString = (OpenSMIL.Server.SimpleFeature.GeomtryTypes.LineString)simpleGeometry;
SharpKml.Dom.LineString line = new SharpKml.Dom.LineString();
line.Coordinates = CreateCoordinateCollection(_lineString.Points);
Placemark placeMark = CreatePlaceMark(item.Title, line);
folder.AddFeature(placeMark);
}
else if (simpleGeometry.GeometryType == GeometryTypes.Polygon)
{
var _polygon = (OpenSMIL.Server.SimpleFeature.GeomtryTypes.Polygon)simpleGeometry;
OuterBoundary outerBoundary = new OuterBoundary();
outerBoundary.LinearRing = new LinearRing();
outerBoundary.LinearRing.Coordinates = CreateCoordinateCollection(_polygon.Points);
SharpKml.Dom.Polygon polygon = new SharpKml.Dom.Polygon();
polygon.OuterBoundary = outerBoundary;
polygon.Extrude = true;
Placemark placeMark = CreatePlaceMark(item.Title, polygon);
folder.AddFeature(placeMark);
}
}
_kml.Feature = folder;
}
});
serializer.Serialize(_kml);
return(serializer.Xml);
}
/// <summary>
/// Assembles location to folder.
/// </summary>
/// <param name="dbLocation">The database location.</param>
/// <returns>Dom.Folder.</returns>
private static Dom.Folder AssembleToFolder(FormationMatcher dbLocation)
{
Dom.Folder locationGroup = new Dom.Folder {
Name = dbLocation.FormationName
};
if (!string.IsNullOrWhiteSpace(dbLocation.SubFormationName))
{
locationGroup.Name += " (" + dbLocation.SubFormationName + ")";
}
Location location = dbLocation.MatchedLocation;
if (location == null)
{
return(locationGroup);
}
// This will be used for the placemark
Dom.Point point = new Dom.Point {
Coordinate = new Vector(location.Latitude, location.Longitude)
};
Dom.Placemark placemark = new Dom.Placemark {
Name = location.Name
};
if (!string.IsNullOrWhiteSpace(location.OtherName))
{
placemark.Name += " (" + location.OtherName + ")";
}
placemark.Geometry = point;
locationGroup.AddFeature(placemark);
//foreach (PeakbaggerLocation location in dbLocation.PossibleLocations)
//{
// // This will be used for the placemark
// Dom.Point point = new Dom.Point {Coordinate = new Vector(location.Latitude, location.Longitude)};
// Dom.Placemark placemark = new Dom.Placemark {Name = location.Name};
// if (!string.IsNullOrWhiteSpace(location.OtherName))
// {
// placemark.Name += " (" + location.OtherName + ")";
// }
// placemark.Geometry = point;
// locationGroup.AddFeature(placemark);
//}
return(locationGroup);
// Add to the root
//kml.Feature = locationGroup;
//WriteToKml(filePath, kml);
//Console.WriteLine(serializer.Xml);
}
[TestCase(-44.93733888888889, 169.81687222222223)] // bayswater
public void Should_NotFind_Intersection(double lat, double lng)
{
SharpKml.Dom.Point point = new SharpKml.Dom.Point()
{
Coordinate = new SharpKml.Base.Vector(lat, lng)
};
DocumentData data = new DocumentData(@"C:\Development\KML\KML.UnitTests\National Territories v2.0.kml");
Placemark placemark = data.Intersects(point);
Assert.IsNull(placemark);
}
[TestCase(-38.15322222222222, 145.31143611111114)] // Melbourne, Casey
public void FindIntersection(double lat, double lng)
{
SharpKml.Dom.Point point = new SharpKml.Dom.Point()
{
Coordinate = new SharpKml.Base.Vector(lat, lng)
};
DocumentData data = new DocumentData(@"C:\Development\KML\KML.UnitTests\National Territories v2.0.kml");
Placemark placemark = data.Intersects(point);
Assert.IsNotNull(placemark);
Console.WriteLine($"town {placemark.Name}");
}
public void TestChangeCoordinates()
{
// Create the target
var point = new Point();
point.Coordinate = new Vector(38.38, -122.122);
var placemark = new Placemark();
placemark.Id = "placemark123";
placemark.Geometry = point;
placemark.Name = "placemark name";
var file = KmlFile.Create(placemark, false);
// Now create the Update
const double latitude = -38.38;
const double longitude = 122.122;
point = new Point();
point.Coordinate = new Vector(latitude, longitude);
placemark = new Placemark();
placemark.Geometry = point;
placemark.TargetId = "placemark123";
var change = new ChangeCollection();
change.Add(placemark);
var update = new Update();
update.AddUpdate(change);
// Now test the update worked
update.Process(file);
placemark = file.Root as Placemark;
Assert.That(placemark, Is.Not.Null);
Assert.That(placemark.Id, Is.EqualTo("placemark123"));
Assert.That(placemark.Name, Is.EqualTo("placemark name"));
point = placemark.Geometry as Point;
Assert.That(point, Is.Not.Null);
Assert.That(point.Coordinate.Latitude, Is.EqualTo(latitude));
Assert.That(point.Coordinate.Longitude, Is.EqualTo(longitude));
}
private static void FillPlacemarkWithGeometry(ref KmlPlaceMark placeMark, ref SharpKml.Dom.Geometry geo)
{
if (geo is SharpKml.Dom.Polygon)
{
SharpKml.Dom.Polygon polygon = geo as SharpKml.Dom.Polygon;
if (polygon.OuterBoundary != null)
{
placeMark.Geometry = new GMapCommonType.Polygon(CoordinatesToPoints(polygon.OuterBoundary.LinearRing.Coordinates));
}
}
if (geo is SharpKml.Dom.Point)
{
SharpKml.Dom.Point point = geo as SharpKml.Dom.Point;
placeMark.Geometry = new Point2D(point.Coordinate.Longitude, point.Coordinate.Latitude);
}
if (geo is SharpKml.Dom.LineString)
{
SharpKml.Dom.LineString str = geo as SharpKml.Dom.LineString;
placeMark.Geometry = new Polyline(CoordinatesToPoints(str.Coordinates));
}
}
public Point GetPoint(Placemark placemark)
{
Point p = new Point {
Title = placemark.Name,
Description = (placemark.Description != null) ? placemark.Description.Text : _documentDescription
};
KmlPoint point = placemark.Flatten().OfType <KmlPoint>().FirstOrDefault();
if (point != null)
{
p.Position = new BasicGeoposition()
{
Longitude = point.Coordinate.Longitude,
Latitude = point.Coordinate.Latitude,
Altitude = point.Coordinate.Altitude ?? 0d
};
return(p);
}
return(null);
}
public void AddPoint(Point point, string idStyle, Dictionary <string, string> dicData, sd.Folder folder = null)
{
var pointDoc = new sd.Point
{
Coordinate = new sb.Vector(point.Lat, point.Lon)
};
var placemark = new sd.Placemark
{
Name = point.Name,
Geometry = pointDoc,
StyleUrl = new Uri($"#{idStyle}", UriKind.Relative),
ExtendedData = ExtendedData(dicData)
};
if (folder == null)
{
Document.AddFeature(placemark);
}
else
{
folder.AddFeature(placemark);
}
}
public void AddPoint(Point point, string idStyle, Dictionary <string, string> dicData, sd.Folder folder = null)
{
var pointDoc = new sd.Point
{
Coordinate = new sb.Vector(point.Lon, point.Lat)
};
var exdata = new sd.ExtendedData();
foreach (var data in dicData)
{
var dataDoc = new sd.Data
{
Name = data.Key,
Value = data.Value
};
exdata.AddData(dataDoc);
}
var placemark = new sd.Placemark
{
Name = point.Name,
Geometry = pointDoc,
StyleUrl = new Uri($"#{idStyle}"),
ExtendedData = exdata
};
if (folder == null)
{
Document.AddFeature(placemark);
}
else
{
folder.AddFeature(placemark);
}
}
public async Task <ResponseMessage> ExportDesign(string designId)
{
try
{
var project = await _designService.GetDesign(designId);
string projectPath = string.Empty;
if (project.BluePrint != null)
{
List <Cable> cables = new List <Cable>();
List <MicroDuct> microduct = new List <MicroDuct>();
List <Chamber> chambers = new List <Chamber>();
List <ODF> oDFs = new List <ODF>();
List <Duct> ducts = new List <Duct>();
List <Pole> poles = new List <Pole>();
List <Splitter> splitters = new List <Splitter>();
List <SpliceClosure> spliceClosures = new List <SpliceClosure>();
List <FAT> fat = new List <FAT>();
List <FDT> fdt = new List <FDT>();
if (project.BluePrint.Children != null && project.BluePrint.Children.Count > 0)
{
ExtractNetwork(project.BluePrint.Children, cables, chambers, oDFs, ducts, microduct, poles, spliceClosures, splitters, fat, fdt);
}
if (cables.Count > 0 || chambers.Count > 0 || oDFs.Count > 0 || ducts.Count > 0 || poles.Count > 0 || splitters.Count > 0 || spliceClosures.Count > 0)
{
var uploadFolder = "\\Uploads\\" + LoginUser.Id + "\\" + System.Guid.NewGuid().ToString();
var uploadPath = _hostingEnvironment.ContentRootPath + uploadFolder;
Directory.CreateDirectory(uploadPath);
projectPath = Path.Combine(uploadPath, "DesignExport.kml");
Kml kml = new Kml();
Placemark placemark = new Placemark();
SharpKml.Dom.Point point;
SharpKml.Dom.Document document1 = new SharpKml.Dom.Document();
var style = new Style();
foreach (var chamber in chambers)
{
placemark = new Placemark();
placemark.Name = chamber.EntityType;
placemark.ExtendedData = new ExtendedData();
point = new SharpKml.Dom.Point();
point.Coordinate = new SharpKml.Base.Vector(Convert.ToDouble(chamber.Geometry.coordinates[1]), Convert.ToDouble(chamber.Geometry.coordinates[0]));
placemark.Geometry = point;
placemark.ExtendedData.AddData(new Data
{
Name = "Code",
Value = chamber.Code
});
placemark.ExtendedData.AddData(new Data
{
Name = "ConstructionStage",
Value = chamber.ConstructionStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "ActivationStage",
Value = chamber.ActivationStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "Accessibility",
Value = chamber.Accessibility
});
placemark.ExtendedData.AddData(new Data
{
Name = "HierarchyType",
Value = chamber.HierarchyType
});
document1.AddFeature(placemark);
}
foreach (var chamber in oDFs)
{
placemark = new Placemark();
placemark.Name = chamber.EntityType;
placemark.ExtendedData = new ExtendedData();
point = new SharpKml.Dom.Point();
point.Coordinate = new SharpKml.Base.Vector(Convert.ToDouble(chamber.Geometry.coordinates[1]), Convert.ToDouble(chamber.Geometry.coordinates[0]));
placemark.Geometry = point;
placemark.ExtendedData.AddData(new Data
{
Name = "Code",
Value = chamber.Code
});
placemark.ExtendedData.AddData(new Data
{
Name = "ConstructionStage",
Value = chamber.ConstructionStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "ActivationStage",
Value = chamber.ActivationStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "Accessibility",
Value = chamber.Accessibility
});
placemark.ExtendedData.AddData(new Data
{
Name = "HierarchyType",
Value = chamber.HierarchyType
});
document1.AddFeature(placemark);
}
foreach (var chamber in poles)
{
placemark = new Placemark();
placemark.Name = chamber.EntityType;
placemark.ExtendedData = new ExtendedData();
point = new SharpKml.Dom.Point();
point.Coordinate = new SharpKml.Base.Vector(Convert.ToDouble(chamber.Geometry.coordinates[1]), Convert.ToDouble(chamber.Geometry.coordinates[0]));
placemark.Geometry = point;
placemark.ExtendedData.AddData(new Data
{
Name = "Code",
Value = chamber.Code
});
placemark.ExtendedData.AddData(new Data
{
Name = "ConstructionStage",
Value = chamber.ConstructionStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "ActivationStage",
Value = chamber.ActivationStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "Accessibility",
Value = chamber.Accessibility
});
placemark.ExtendedData.AddData(new Data
{
Name = "HierarchyType",
Value = chamber.HierarchyType
});
document1.AddFeature(placemark);
}
foreach (var chamber in splitters)
{
placemark = new Placemark();
placemark.Name = chamber.EntityType;
placemark.ExtendedData = new ExtendedData();
point = new SharpKml.Dom.Point();
point.Coordinate = new SharpKml.Base.Vector(Convert.ToDouble(chamber.Geometry.coordinates[1]), Convert.ToDouble(chamber.Geometry.coordinates[0]));
placemark.Geometry = point;
placemark.ExtendedData.AddData(new Data
{
Name = "Code",
Value = chamber.Code
});
placemark.ExtendedData.AddData(new Data
{
Name = "ConstructionStage",
Value = chamber.ConstructionStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "ActivationStage",
Value = chamber.ActivationStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "Accessibility",
Value = chamber.Accessibility
});
placemark.ExtendedData.AddData(new Data
{
Name = "HierarchyType",
Value = chamber.HierarchyType
});
document1.AddFeature(placemark);
}
foreach (var chamber in spliceClosures)
{
placemark = new Placemark();
placemark.Name = chamber.EntityType;
placemark.ExtendedData = new ExtendedData();
point = new SharpKml.Dom.Point();
point.Coordinate = new SharpKml.Base.Vector(Convert.ToDouble(chamber.Geometry.coordinates[1]), Convert.ToDouble(chamber.Geometry.coordinates[0]));
placemark.Geometry = point;
placemark.ExtendedData.AddData(new Data
{
Name = "Code",
Value = chamber.Code
});
placemark.ExtendedData.AddData(new Data
{
Name = "ConstructionStage",
Value = chamber.ConstructionStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "ActivationStage",
Value = chamber.ActivationStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "Accessibility",
Value = chamber.Accessibility
});
placemark.ExtendedData.AddData(new Data
{
Name = "HierarchyType",
Value = chamber.HierarchyType
});
document1.AddFeature(placemark);
}
foreach (var chamber in cables)
{
placemark = new Placemark();
placemark.Name = chamber.EntityType;
placemark.ExtendedData = new ExtendedData();
point = new SharpKml.Dom.Point();
SharpKml.Dom.LineString linestring = new SharpKml.Dom.LineString();
CoordinateCollection coordinates = new CoordinateCollection();
foreach (var coordinate in chamber.Geometry.coordinates)
{
coordinates.Add(new Vector(coordinate[1], coordinate[0]));
}
linestring.Coordinates = coordinates;
placemark.Geometry = linestring;
placemark.ExtendedData = new ExtendedData();
placemark.ExtendedData.AddData(new Data
{
Name = "Code",
Value = chamber.Code
});
placemark.ExtendedData.AddData(new Data
{
Name = "ALocation",
Value = chamber.ALocation
});
placemark.ExtendedData.AddData(new Data
{
Name = "BLocation",
Value = chamber.BLocation
});
if (chamber.IsUnderground.HasValue)
{
placemark.ExtendedData.AddData(new Data
{
Name = "IsUnderground",
Value = chamber.IsUnderground.ToString()
});
}
placemark.ExtendedData.AddData(new Data
{
Name = "ConstructionStage",
Value = chamber.ConstructionStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "ActivationStage",
Value = chamber.ActivationStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "Accessibility",
Value = chamber.Accessibility
});
placemark.ExtendedData.AddData(new Data
{
Name = "HierarchyType",
Value = chamber.HierarchyType
});
document1.AddFeature(placemark);
}
foreach (var chamber in ducts)
{
placemark = new Placemark();
placemark.Name = chamber.EntityType;
placemark.ExtendedData = new ExtendedData();
point = new SharpKml.Dom.Point();
SharpKml.Dom.LineString linestring = new SharpKml.Dom.LineString();
CoordinateCollection coordinates = new CoordinateCollection();
foreach (var coordinate in chamber.Geometry.coordinates)
{
coordinates.Add(new Vector(coordinate[1], coordinate[0]));
}
linestring.Coordinates = coordinates;
placemark.Geometry = linestring;
placemark.ExtendedData = new ExtendedData();
placemark.ExtendedData.AddData(new Data
{
Name = "Code",
Value = chamber.Code
});
placemark.ExtendedData.AddData(new Data
{
Name = "ConstructionStage",
Value = chamber.ConstructionStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "ActivationStage",
Value = chamber.ActivationStage
});
placemark.ExtendedData.AddData(new Data
{
Name = "Accessibility",
Value = chamber.Accessibility
});
placemark.ExtendedData.AddData(new Data
{
Name = "HierarchyType",
Value = chamber.HierarchyType
});
document1.AddFeature(placemark);
}
kml.Feature = document1;
KmlFile kmlfile = KmlFile.Create(kml, false);
System.IO.File.Create(projectPath).Dispose();
using (var stream1 = System.IO.File.OpenWrite(projectPath))
{
kmlfile.Save(stream1);
}
}
}
return(new ResponseMessage()
{
Status = "ok", Data = projectPath
});
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error export design.");
return(new ResponseMessage()
{
Status = "Error", Message = "Error export design."
});
}
}
static async Task MainAsync(string[] args)
{
Console.BackgroundColor = ConsoleColor.White;
Console.ForegroundColor = ConsoleColor.Blue;
Console.Clear();
Console.WriteLine("Welcome to Google Earth Automator!");
Console.WriteLine("Allow me to handle all the Google Earth Hassle :)");
START:
Console.WriteLine();
Console.Write("Please enter the coordinates of the location you would like to visit > ");
Geospatial.Location desiredLocation = null;
while (!Geospatial.Location.TryParse(Console.ReadLine(), out desiredLocation))
{
Console.WriteLine("The location coordinates you provided does not seem to be in the correct format.");
Console.WriteLine("Please try again.");
Console.WriteLine();
Console.Write("Please enter the coordinates of the location you would like to visit > ");
}
var altitude = desiredLocation.Altitude.HasValue ? desiredLocation.Altitude.Value : 0.0;
if (!Directory.Exists(TEMP_DIR))
{
Directory.CreateDirectory(TEMP_DIR);
}
var point = new SharpKml.Dom.Point();
point.Coordinate = new SharpKml.Base.Vector(desiredLocation.Latitude.TotalDegrees, desiredLocation.Longitude.TotalDegrees, altitude);
Kml kml = new Kml();
Placemark placemark = new Placemark();
placemark.Geometry = point;
kml.Feature = placemark;
string path = Path.Combine(TEMP_DIR, Guid.NewGuid().ToString() + ".kml");
using (var file = new FileStream(path, FileMode.Create, FileAccess.Write))
using (var writer = new StreamWriter(file))
{
Serializer serializer = new Serializer();
serializer.Serialize(kml);
writer.WriteLine(serializer.Xml);
writer.Flush();
}
Console.WriteLine("That would be no problem...");
Console.WriteLine("What would you name would like to save the image with?");
Console.Write("Please enter the full path > ");
string savePath = Console.ReadLine();
string saveDir = string.Empty;
try { saveDir = Path.GetDirectoryName(savePath); } catch { saveDir = string.Empty; }
while (!Directory.Exists((saveDir)))
{
if (string.IsNullOrWhiteSpace(saveDir))
{
saveDir = Directory.GetCurrentDirectory();
savePath = Path.Combine(saveDir, savePath);
}
try { Directory.CreateDirectory(saveDir); }
catch
{
Console.WriteLine("Directory you provided to save the file does not exist, cannot be created, Please input another file path.");
savePath = Console.ReadLine();
try { saveDir = Path.GetDirectoryName(savePath); } catch { saveDir = string.Empty; }
}
}
if (Path.GetExtension(savePath) != ".jpg")
{
savePath += ".jpg";
}
var startInfo = new ProcessStartInfo(GoogleEarthPath)
{
};
var processes = Process.GetProcesses();
bool foundIt = false;
for (int i = 0; i < processes.Length; i++)
{
//Console.WriteLine(processes[i].ProcessName);
if (!processes[i].ProcessName.Contains(GoogleEarth))
{
continue;
}
GE = Process.GetProcessById(processes[i].Id);
foundIt = true;
Console.WriteLine("Google Earth is already running...");
break;
}
for (int i = 0; i < 3; i++)
{
Console.WriteLine();
}
if (!foundIt)
{
var gePath = GoogleEarthPath;
while (!File.Exists(gePath))
{
Console.WriteLine("Google Earth was not found, Please specify the path for the application.");
gePath = Console.ReadLine();
}
//Thread.Sleep(10000);
var info = new ProcessStartInfo(path)
{
Arguments = $"\"{path}\"",
UseShellExecute = true,
WorkingDirectory = Path.GetDirectoryName(path),
FileName = gePath,
Verb = "OPEN"
};
GE = Process.Start(info);
}
else
{
var info = new ProcessStartInfo(path)
{
Arguments = $"\"{path}\"",
UseShellExecute = true,
WorkingDirectory = Path.GetDirectoryName(path),
FileName = GoogleEarthPath,
Verb = "OPEN"
};
Process.Start(info);
}
Console.WriteLine("Waiting for Google Earth to load....");
while (GE.MainWindowHandle == IntPtr.Zero)
{
Thread.Sleep(1000);
}
bool geLoading = true;
//CPUStatus status = new CPUStatus(GE);
CpuUsage usage = new CpuUsage(GE);
var loadTimer = new System.Timers.Timer()
{
Interval = 500,
Enabled = true,
AutoReset = true
};
int lowCount = 0;
loadTimer.Elapsed += (s, e) =>
{
Console.Write("\rGoogle Earth CPU Usage: {0}% ", usage.Usage);
var value = usage.GetUsage();
if (value < 5)
{
lowCount++;
}
else
{
lowCount = 0;
}
if (lowCount > 7)
{
geLoading = false;
}
};
loadTimer.Start();
/*
* CPUTracker.TrackProcess(GE);
*
* CPUTracker.CPUValuesUpdated += (s, e) =>
* {
* Console.Write("\rGoogle Earth CPU Usage: {0} ", e.ToString());
*
* if (count > 100)
* geLoading = false;
* count++;
* };
*/
while (geLoading)
{
await Task.Delay(1000);
}
loadTimer.Stop();
Console.WriteLine();
Console.WriteLine("Google Earth has loaded successfully...");
//CPUTracker.StopTracking();
ShowWindow(GE.MainWindowHandle, SW_SHOWMAXIMIZED);
SetForegroundWindow(GE.MainWindowHandle);
/*
* // Wait for the application to become the main window...
* while (!GE.MainWindowHandle.Equals(GetForegroundWindow()))
* {
* GE.Refresh();
* Thread.Sleep(2000);
* }
*/
// Iterate through the processes windows
foreach (ProcessThread thread in GE.Threads)
{
EnumThreadWindows(thread.Id
, (hWnd, lParam) =>
{
var msg = new StringBuilder(1000);
SendMessage(hWnd, WM_GETTEXT, msg.Capacity, msg);
// If Startup Tips is open, send a close message
if (msg.ToString() == "Start-up Tips")
{
SendMessage(hWnd, WM_CLOSE, IntPtr.Zero, IntPtr.Zero);
}
return(true);
}, IntPtr.Zero);
}
// toolbarFrameWindow
// earth::modules::print::PrintToolbarClassWindow
var mainWindowHandle = GE.MainWindowHandle;
var saveTab = FindWindow(GE.MainWindowHandle
, (ptr => GetWindowText(ptr)
== "earth::modules::print::PrintToolbarClassWindow"));
InputSimulator simulator = new InputSimulator();
var keyboard = new KeyboardSimulator(simulator);
if (saveTab == IntPtr.Zero || !IsWindowVisible(saveTab))
{
keyboard.ModifiedKeyStroke(new VirtualKeyCode[] { VirtualKeyCode.LMENU, VirtualKeyCode.LCONTROL }, VirtualKeyCode.VK_S);
saveTab = FindWindow(GE.MainWindowHandle
, (ptr => GetWindowText(ptr)
== "earth::modules::print::PrintToolbarClassWindow"));
}
//keyboard.ModifiedKeyStroke(new VirtualKeyCode[] { VirtualKeyCode.LMENU, VirtualKeyCode.LCONTROL }, VirtualKeyCode.VK_C);
/*
* Thread.Sleep(1000);
* var saveButton = FindWindowEx(GE.MainWindowHandle, IntPtr.Zero, "Qt5QWindowIcon", "earth::modules::print::PrintToolbarClassWindow");
* Console.WriteLine(saveButton);
* SendMessage((int)saveButton, BN_CLICKED, 0, IntPtr.Zero);
*/
Thread.Sleep(2000);
Console.WriteLine("Searching through all windows in the process");
//PrintAllChildWindows(GE.MainWindowHandle);
if (!SetForegroundWindow(saveTab))
{
Console.WriteLine("Failed to set save tab as the foreground window");
}
// Press 3 tabs to navigate to the save button
for (int i = 0; i < 3; i++)
{
keyboard.KeyPress(VirtualKeyCode.TAB);
}
keyboard.KeyPress(VirtualKeyCode.SPACE);
Thread.Sleep(1000);
Console.WriteLine("Searching through the process for the save dialog box");
//PrintAllChildWindows(GE.MainWindowHandle);
/*
* while ((saveAsDialog = FindWindow(GE.MainWindowHandle, ptr => GetWindowText(ptr) == "Save As")) == IntPtr.Zero)
* Thread.Sleep(1000);
*/
Console.WriteLine("Found the save as dialog box");
Console.WriteLine("Waiting for it to load...");
Thread.Sleep(3000);
IntPtr saveAsDialog = GetForegroundWindow();
IntPtr textBox = FindWindow(saveAsDialog, ptr => GetWindowClass(ptr) == "Edit");
SetFocus(textBox);
keyboard.TextEntry(savePath);
keyboard.KeyPress(VirtualKeyCode.RETURN);
//return;
Thread.Sleep(3000);
ShowWindow(GE.MainWindowHandle, SW_SHOWMINIMIZED);
Console.WriteLine("Automation is now complete, saving image...");
/*
* var data = Clipboard.GetDataObject();
*
* if (data == null)
* {
* Console.WriteLine("Failed to access clipboard data...");
* Console.WriteLine("Google Automator will now exit");
* return;
* }
* if (data.GetDataPresent(DataFormats.Bitmap))
* {
* using (var image = (Bitmap)data.GetData(DataFormats.Bitmap, true))
* image.Save(savePath, ImageFormat.Png);
* }
* else
* {
* Console.WriteLine("There does not seem to be a bitmap format in the clipboard....");
* Console.WriteLine("The available formats are: ");
* foreach (var format in data.GetFormats())
* Console.WriteLine("\t{0}");
* Console.WriteLine("Google Earth Automator will now exit...");
* }
*/
Console.WriteLine("The image has been successfully saved at ({0})", savePath);
Console.Write("Would you like to view the image? (Yes/No) > ");
var answer = Console.ReadLine();
if (answer.ToLower() == "y" || answer.ToLower() == "yes")
{
try { Process.Start(savePath); } catch { }
}
Console.Write("Well that's it!, would you like to run another automation sequence? > ");
answer = Console.ReadLine();
if (answer.ToLower() == "y" || answer.ToLower() == "yes")
{
goto START;
}
}
protected virtual Feature CreateKmlFeature(FeatureDataRow feature, StyleSelector style)
{
var geometry = feature.Geometry;
geometry = ToTarget(geometry);
switch (geometry.OgcGeometryType)
{
case OgcGeometryType.Point:
{
var location = geometry.Coordinate;
var p = new Point { Coordinate = new Vector(location.Y, location.X) };
return WrapPlacemark(p, style, feature);
}
case OgcGeometryType.MultiPoint:
{
var multiGeometry = new MultipleGeometry();
foreach (var coordinate in geometry.Coordinates)
{
var p = new Point { Coordinate = new Vector(coordinate.Y, coordinate.X) };
multiGeometry.AddGeometry(p);
}
return WrapPlacemark(multiGeometry, style, feature);
}
case OgcGeometryType.LineString:
{
var lineString = CreateLineString(geometry);
return WrapPlacemark(lineString, style, feature);
}
case OgcGeometryType.Polygon:
{
var polygon = (IPolygon)geometry;
var kmlPolygon = CreateKmlPolygon(polygon);
return WrapPlacemark(kmlPolygon, style, feature);
}
case OgcGeometryType.MultiLineString:
{
var multiGeometry = new MultipleGeometry();
var multiLineString = (IMultiLineString)geometry;
foreach (var innerGeometry in multiLineString.Geometries)
{
var lineString = CreateLineString(innerGeometry);
multiGeometry.AddGeometry(lineString);
}
return WrapPlacemark(multiGeometry, style, feature);
}
case OgcGeometryType.MultiPolygon:
{
var multiGeometry = new MultipleGeometry();
var multiPoly = (IMultiPolygon)geometry;
foreach (var innerGeometry in multiPoly.Geometries.Cast<IPolygon>())
{
var polygon = CreateKmlPolygon(innerGeometry);
multiGeometry.AddGeometry(polygon);
}
return WrapPlacemark(multiGeometry, style, feature);
}
default:
throw new InvalidOperationException("Geometry not supported");
}
}
private void writeKML(string filename)
{
SharpKml.Dom.AltitudeMode altmode = SharpKml.Dom.AltitudeMode.Absolute;
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
altmode = SharpKml.Dom.AltitudeMode.Absolute;
}
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
}
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()
{
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);
Style stylet = new Style();
stylet.Id = "track";
SharpKml.Dom.IconStyle ico = new SharpKml.Dom.IconStyle();
LabelStyle lst = new LabelStyle();
lst.Scale = 0;
stylet.Icon = ico;
ico.Icon = new IconStyle.IconLink(new Uri("http://earth.google.com/images/kml-icons/track-directional/track-none.png"));
stylet.Icon.Scale = 0.5;
stylet.Label = lst;
kml.AddStyle(stylet);
// create sub folders
Folder planes = new Folder();
planes.Name = "Planes";
kml.AddFeature(planes);
Folder points = new Folder();
points.Name = "Points";
kml.AddFeature(points);
// 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 = altmode;
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;
SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
cam.AltitudeMode = altmode;
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 = "Point " + 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;
if (loc.Altitude < 0)
{
loc.Altitude = 0.01;
}
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 = altmode;
model.Scale = sca;
try
{
Description desc = new Description();
desc.Text = @"<![CDATA[
<table>
<tr><td>Roll: " + model.Orientation.Roll.Value.ToString("0.00") + @" </td></tr>
<tr><td>Pitch: " + model.Orientation.Tilt.Value.ToString("0.00") + @" </td></tr>
<tr><td>Yaw: " + model.Orientation.Heading.Value.ToString("0.00") + @" </td></tr>
<tr><td>Time: " + cs.datetime.ToString("HH:mm:sszzzzzz") + @" </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);
///
Placemark pmt = new Placemark();
SharpKml.Dom.Point pnt = new SharpKml.Dom.Point();
pnt.AltitudeMode = altmode;
pnt.Coordinate = new Vector(cs.lat, cs.lng, cs.alt);
pmt.Name = "" + a;
pmt.Description = pmplane.Description;
pmt.Time = tstamp;
pmt.Geometry = pnt;
pmt.StyleUrl = new Uri("#track", UriKind.Relative);
points.AddFeature(pmt);
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(Path.GetExtension(filename), ".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.Open(filename, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
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();
}
public void ProcessClient(object clientobj)
{
var client = clientobj as TcpClient;
using (client)
{
try
{
// Get a stream object for reading and writing
log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
//client.SendBufferSize = 100 * 1024; // 100kb
//client.LingerState.Enabled = true;
//client.NoDelay = true;
// makesure we have valid image
GCSViews.FlightData.myhud.streamjpgenable = true;
NetworkStream stream = client.GetStream();
// 5 seconds - default for httpd 2.2+
stream.ReadTimeout = 5000;
goto skipagain;
again:
log.Info("doing Again");
skipagain:
var asciiEncoding = new ASCIIEncoding();
var request = new byte[1024 * 4];
int len = 0;
// handle header
try
{
len = stream.Read(request, 0, request.Length);
}
catch
{
return;
}
string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
log.Info(head);
int index = head.IndexOf('\n');
if (index == -1)
{
return;
}
string url = head.Substring(0, index - 1);
//url = url.Replace("\r", "");
//url = url.Replace("GET ","");
//url = url.Replace(" HTTP/1.0", "");
//url = url.Replace(" HTTP/1.1", "");
//Tracking.AddEvent("HTTPServer", "Get", url, "");
/////////////////////////////////////////////////////////////////
if (url.Contains(" /websocket/server"))
{
using (var writer = new StreamWriter(stream, Encoding.Default))
{
writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
writer.WriteLine("Upgrade: WebSocket");
writer.WriteLine("Connection: Upgrade");
//writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");
int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
int end = head.IndexOf('\r', start);
if (end == -1)
{
end = head.IndexOf('\n', start);
}
string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));
writer.WriteLine("Sec-WebSocket-Accept: " + accept);
writer.WriteLine("Server: Mission Planner");
writer.WriteLine("");
writer.Flush();
while (client.Connected)
{
while (client.Available > 0)
{
var bydata = stream.ReadByte();
Console.Write(bydata.ToString("X2"));
if (bydata == 0x88)
{
return;
}
}
byte[] packet = new byte[1024 * 32];
var cs = JsonConvert.SerializeObject(MainV2.comPort.MAV.cs);
var wps = JsonConvert.SerializeObject(MainV2.comPort.MAV.wps);
foreach (var sendme in new[] { cs, wps })
{
int i = 0;
var tosend = sendme.Length;
packet[i++] = 0x81; // fin - utf
if (tosend <= 125)
{
packet[i++] = (byte)(tosend);
}
else
{
packet[i++] = 126; // nomask - 2 byte length
packet[i++] = (byte)(tosend >> 8);
packet[i++] = (byte)(tosend & 0xff);
}
foreach (char ch in sendme)
{
packet[i++] = (byte)ch;
}
stream.Write(packet, 0, i);
stream.Flush();
}
Thread.Sleep(200);
}
}
}
/////////////////////////////////////////////////////////////////
else if (url.Contains(" /websocket/raw"))
{
using (var writer = new StreamWriter(stream, Encoding.Default))
{
writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
writer.WriteLine("Upgrade: WebSocket");
writer.WriteLine("Connection: Upgrade");
writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/raw");
int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
int end = head.IndexOf('\r', start);
if (end == -1)
{
end = head.IndexOf('\n', start);
}
string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));
writer.WriteLine("Sec-WebSocket-Accept: " + accept);
if (head.Contains("Sec-WebSocket-Protocol:"))
{
writer.WriteLine("Sec-WebSocket-Protocol: binary");
}
writer.WriteLine("Server: Mission Planner");
writer.WriteLine("");
writer.Flush();
EventHandler <MAVLink.MAVLinkMessage> action = null;
action = (sender, message) =>
{
var sendme = message.buffer;
try
{
byte[] packet = new byte[1024 * 32];
int i = 0;
var tosend = sendme.Length;
packet[i++] = 0x82; // fin - data
if (tosend <= 125)
{
packet[i++] = (byte)(tosend);
}
else
{
packet[i++] = 126; // nomask - 2 byte length
packet[i++] = (byte)(tosend >> 8);
packet[i++] = (byte)(tosend & 0xff);
}
foreach (char ch in sendme)
{
packet[i++] = (byte)ch;
}
stream.WriteAsync(packet, 0, i);
stream.FlushAsync();
}
catch
{
((MAVLinkInterface)sender).OnPacketReceived -= action;
stream.Close();
client.Close();
}
};
MainV2.comPort.OnPacketReceived += action;
while (client.Connected)
{
while (client.Available > 0)
{
var bydata = stream.ReadByte();
Console.Write(bydata.ToString("X2"));
if (bydata == 0x88)
{
return;
}
}
Thread.Sleep(200);
}
MainV2.comPort.OnPacketReceived -= action;
}
}
/////////////////////////////////////////////////////////////////
else if (url.Contains(" /georefnetwork.kml"))
{
byte[] buffer = Encoding.ASCII.GetBytes(georefkml);
string header =
"HTTP/1.1 200 OK\r\nServer: here\r\nKeep-Alive: timeout=15, max=100\r\nConnection: Keep-Alive\r\nCache-Control: no-cache\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nX-Pad: avoid browser bug\r\nContent-Length: " +
buffer.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(buffer, 0, buffer.Length);
stream.Flush();
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains(" /location.kml"))
{
SharpKml.Dom.Document kml = new SharpKml.Dom.Document();
foreach (var mavLinkInterface in MainV2.Comports)
{
foreach (var MAV in mavLinkInterface.MAVlist)
{
SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
pmplane.Name = "P/Q " + MAV.cs.altasl;
pmplane.Visibility = true;
SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
loc.Latitude = MAV.cs.lat;
loc.Longitude = MAV.cs.lng;
loc.Altitude = MAV.cs.altasl;
if (loc.Altitude < 0)
{
loc.Altitude = 0.01;
}
SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
ori.Heading = MAV.cs.yaw;
ori.Roll = -MAV.cs.roll;
ori.Tilt = -MAV.cs.pitch;
SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
sca.X = 2;
sca.Y = 2;
sca.Z = 2;
SharpKml.Dom.Model model = new SharpKml.Dom.Model();
model.Location = loc;
model.Orientation = ori;
model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
model.Scale = sca;
SharpKml.Dom.Link link = new SharpKml.Dom.Link();
link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
model.Link = link;
pmplane.Geometry = model;
kml.AddFeature(pmplane);
}
}
SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
{
Altitude = MainV2.comPort.MAV.cs.altasl,
Latitude = MainV2.comPort.MAV.cs.lat,
Longitude = MainV2.comPort.MAV.cs.lng,
Tilt = 80,
Heading = MainV2.comPort.MAV.cs.yaw,
AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
Range = 50
};
if (la.Latitude.Value != 0 && la.Longitude.Value != 0)
{
kml.Viewpoint = la;
}
SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
serializer.Serialize(kml);
byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);
string header =
"HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " +
buffer.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(buffer, 0, buffer.Length);
goto again;
}
else if (url.Contains(" /network.kml"))
{
byte[] buffer = Encoding.ASCII.GetBytes(@"<?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"">
<Folder>
<name> Network Links </name>
<open> 1 </open>
<NetworkLink>
<name> View Centered Placemark</name>
<open> 1 </open>
<refreshVisibility> 0 </refreshVisibility>
<flyToView> 1 </flyToView>
<Link>
<href> http://127.0.0.1:56781/location.kml</href>
<refreshMode> onInterval </refreshMode>
<refreshInterval> 1 </refreshInterval>
<viewRefreshTime> 1 </viewRefreshTime>
</Link>
</NetworkLink>
<NetworkLink>
<name> View Centered Placemark</name>
<open> 1 </open>
<refreshVisibility> 0 </refreshVisibility>
<flyToView> 0 </flyToView>
<Link>
<href> http://127.0.0.1:56781/wps.kml</href>
</Link>
</NetworkLink>
</Folder>
</kml>");
string header =
"HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " +
buffer.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(buffer, 0, buffer.Length);
stream.Flush();
goto again;
}
else if (url.Contains(" /wps.kml"))
{
SharpKml.Dom.Document kml = new SharpKml.Dom.Document();
SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();
PointLatLngAlt home = null;
// draw track
try
{
foreach (var point in GCSViews.FlightPlanner.instance.pointlist)
{
if (point == null)
{
continue;
}
if (point.Tag.ToLower().Contains("home"))
{
home = point;
}
coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));
}
}
catch
{
}
var altmode = SharpKml.Dom.AltitudeMode.Absolute;
foreach (var point in GCSViews.FlightPlanner.instance.pointlist)
{
if (point == null)
{
continue;
}
SharpKml.Dom.Placemark wp = new SharpKml.Dom.Placemark();
wp.Name = "WP " + point.Tag + " Alt: " + point.Alt;
SharpKml.Dom.Point wppoint = new SharpKml.Dom.Point();
wppoint.AltitudeMode = altmode;
wppoint.Coordinate = new Vector()
{
Latitude = point.Lat,
Longitude = point.Lng,
Altitude = point.Alt
};
wp.Geometry = wppoint;
kml.AddFeature(wp);
}
SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
ls.AltitudeMode = altmode;
ls.Coordinates = coords;
ls.Extrude = false;
ls.Tessellate = true;
Style style = new Style();
style.Id = "yellowLineGreenPoly";
unchecked {
style.Line = new LineStyle(new Color32((int)0xff00ffff), 4);
}
Style style2 = new Style();
style2.Id = "yellowLineGreenPoly";
style2.Line = new LineStyle(new Color32((int)0x7f00ffff), 4);
// above ground
SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark()
{
Geometry = ls,
Name = "WPs",
StyleSelector = style
};
kml.AddFeature(pm);
// on ground
SharpKml.Dom.LineString ls2 = new SharpKml.Dom.LineString();
ls2.Coordinates = coords;
ls2.Extrude = false;
ls2.Tessellate = true;
ls2.AltitudeMode = SharpKml.Dom.AltitudeMode.ClampToGround;
SharpKml.Dom.Placemark pm2 = new SharpKml.Dom.Placemark()
{
Geometry = ls2,
Name = "onground",
StyleSelector = style2
};
kml.AddFeature(pm2);
SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
serializer.Serialize(kml);
byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);
string header =
"HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " +
buffer.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(buffer, 0, buffer.Length);
stream.Flush();
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains(" /hud.html"))
{
var file = Xamarin.Properties.Resources.hud;
string header = "HTTP/1.1 200 OK\r\nConnection: close\r\nContent-Type: text/html\r\nContent-Length: " + file.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
byte[] buffer = ASCIIEncoding.ASCII.GetBytes(file);
stream.Write(buffer, 0, buffer.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains(" /guided?"))
{
//http://127.0.0.1:56781/guided?lat=-34&lng=117.8&alt=30
Regex rex = new Regex(@"lat=([\-\.0-9]+)&lng=([\-\.0-9]+)&alt=([\.0-9]+)",
RegexOptions.IgnoreCase);
Match match = rex.Match(url);
if (match.Success)
{
Locationwp gwp = new Locationwp()
{
lat = double.Parse(match.Groups[1].Value),
lng = double.Parse(match.Groups[2].Value),
alt = float.Parse(match.Groups[3].Value)
};
try
{
MainV2.comPort.setGuidedModeWP(gwp);
}
catch
{
}
string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
else
{
string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("post /guide"))
{
Regex rex = new Regex(@"lat"":([\-\.0-9]+),""lon"":([\-\.0-9]+),""alt"":([\.0-9]+)",
RegexOptions.IgnoreCase);
Match match = rex.Match(head);
if (match.Success)
{
Locationwp gwp = new Locationwp()
{
lat = double.Parse(match.Groups[1].Value),
lng = double.Parse(match.Groups[2].Value),
alt = float.Parse(match.Groups[3].Value)
};
try
{
MainV2.comPort.setGuidedModeWP(gwp);
}
catch
{
}
string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
else
{
string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains(" /command_long"))
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains(" /rcoverride"))
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains(" /get_mission"))
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains(" /mavlink/"))
{
/*
* GET /mavlink/ATTITUDE+VFR_HUD+NAV_CONTROLLER_OUTPUT+META_WAYPOINT+GPS_RAW_INT+HEARTBEAT+META_LINKQUALITY+GPS_STATUS+STATUSTEXT+SYS_STATUS?_=1355828718540 HTTP/1.1
* Host: ubuntu:9999
* Connection: keep-alive
* X-Requested-With: XMLHttpRequest
* User-Agent: Mozilla/5.0 (Windows NT 6.1; WOW64) AppleWebKit/537.11 (KHTML, like Gecko) Chrome/23.0.1271.97 Safari/537.11
* Accept:
* Referer: http://ubuntu:9999/index.html
* Accept-Encoding: gzip,deflate,sdch
* Accept-Language: en-GB,en-US;q=0.8,en;q=0.6
* Accept-Charset: ISO-8859-1,utf-8;q=0.7,*;q=0.3
*
* HTTP/1.1 200 OK
* Content-Type: application/json
* Content-Length: 2121
* Date: Thu, 29 Nov 2012 12:13:38 GMT
* Server: ubuntu
*
* {
* "VFR_HUD": {"msg": {"throttle": 0, "groundspeed": 0.0, "airspeed": 0.0, "climb": 0.0, "mavpackettype": "VFR_HUD", "alt": -0.47999998927116394, "heading": 108}, "index": 687, "time_usec": 0},
* "STATUSTEXT": {"msg": {"mavpackettype": "STATUSTEXT", "severity": 1, "text": "Initialising APM..."}, "index": 2, "time_usec": 0},
* "SYS_STATUS": {"msg": {"onboard_control_sensors_present": 4294966287, "load": 0, "battery_remaining": -1, "errors_count4": 0, "drop_rate_comm": 0, "errors_count2": 0, "errors_count3": 0, "errors_comm": 0, "current_battery": -1, "errors_count1": 0, "onboard_control_sensors_health": 4294966287, "mavpackettype": "SYS_STATUS", "onboard_control_sensors_enabled": 4294945807, "voltage_battery": 10080}, "index": 693, "time_usec": 0},
* "META_LINKQUALITY": {"msg": {"master_in": 11110, "mav_loss": 0, "mavpackettype": "META_LINKQUALITY", "master_out": 194, "packet_loss": 0.0}, "index": 194, "time_usec": 0},
* "ATTITUDE": {"msg": {"pitchspeed": -0.000976863200776279, "yaw": 1.8878594636917114, "rollspeed": -0.0030046366155147552, "time_boot_ms": 194676, "pitch": -0.09986469894647598, "mavpackettype": "ATTITUDE", "yawspeed": -0.0015030358918011189, "roll": -0.029391441494226456}, "index": 687, "time_usec": 0},
* "GPS_RAW_INT": {"msg": {"fix_type": 1, "cog": 0, "epv": 65535, "lon": 0, "time_usec": 0, "eph": 9999, "satellites_visible": 0, "lat": 0, "mavpackettype": "GPS_RAW_INT", "alt": 137000, "vel": 0}, "index": 687, "time_usec": 0},
* "HEARTBEAT": {"msg": {"custom_mode": 0, "system_status": 4, "base_mode": 81, "autopilot": 3, "mavpackettype": "HEARTBEAT", "type": 2, "mavlink_version": 3}, "index": 190, "time_usec": 0},
* "GPS_STATUS": {"msg": {"satellite_snr": "", "satellite_azimuth": "", "satellite_prn": "", "satellite_elevation": "", "satellites_visible": 0, "satellite_used": "", "mavpackettype": "GPS_STATUS"}, "index": 2, "time_usec": 0},
* "NAV_CONTROLLER_OUTPUT": {"msg": {"wp_dist": 0, "nav_pitch": 0.0, "target_bearing": 0, "nav_roll": 0.0, "aspd_error": 0.0, "alt_error": 0.0, "mavpackettype": "NAV_CONTROLLER_OUTPUT", "xtrack_error": 0.0, "nav_bearing": 0}, "index": 687, "time_usec": 0}}
*/
object[] data = new object[20];
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE) != null)
{
var tmsg = MainV2.comPort.MAV.getPacket((uint)MAVLink.MAVLINK_MSG_ID.ATTITUDE)
.ToStructure <MAVLink.mavlink_attitude_t>();
var json = JsonConvert.SerializeObject(tmsg);
var name = MAVLink.MAVLINK_MESSAGE_INFOS.GetMessageInfo((uint)MAVLink.MAVLINK_MSG_ID.ATTITUDE).name;
}
Messagejson message = new Messagejson();
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE) != null)
{
message.ATTITUDE = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE)
.ToStructure <MAVLink.mavlink_attitude_t>()
}
}
;
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD) != null)
{
message.VFR_HUD = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD)
.ToStructure <MAVLink.mavlink_vfr_hud_t>()
}
}
;
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT) != null)
{
message.NAV_CONTROLLER_OUTPUT = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT)
.ToStructure <MAVLink.mavlink_nav_controller_output_t>()
}
}
;
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT) != null)
{
message.GPS_RAW_INT = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT)
.ToStructure <MAVLink.mavlink_gps_raw_int_t>()
}
}
;
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT) != null)
{
message.HEARTBEAT = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT)
.ToStructure <MAVLink.mavlink_heartbeat_t>()
}
}
;
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS) != null)
{
message.GPS_STATUS = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS)
.ToStructure <MAVLink.mavlink_gps_status_t>()
}
}
;
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT) != null)
{
message.STATUSTEXT = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
.ToStructure <MAVLink.mavlink_statustext_t>()
}
}
;
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS) != null)
{
message.SYS_STATUS = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS)
.ToStructure <MAVLink.mavlink_sys_status_t>()
}
}
;
message.META_LINKQUALITY =
message.SYS_STATUS =
new Message2()
{
index = packetindex,
time_usec = 0,
msg =
new META_LINKQUALITY()
{
master_in = (int)MainV2.comPort.MAV.packetsnotlost,
mavpackettype = "META_LINKQUALITY",
master_out = MainV2.comPort.packetcount,
packet_loss = 100 - MainV2.comPort.MAV.cs.linkqualitygcs,
mav_loss = 0
}
};
packetindex++;
string output = JsonConvert.SerializeObject(message);
string header = "HTTP/1.1 200 OK\r\nContent-Type: application/json\r\nContent-Length: " +
output.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
temp = asciiEncoding.GetBytes(output);
stream.Write(temp, 0, temp.Length);
stream.Flush();
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains(" /mav/"))
{
//C:\Users\hog\Desktop\DIYDrones\mavelous\modules\lib\mavelous_web
Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);
Match match = rex.Match(url);
if (match.Success)
{
string fileurl = WebUtility.UrlDecode(match.Groups[2].Value);
fileurl = fileurl.Replace("/mav/", "");
if (fileurl == "" || fileurl == "/")
{
fileurl = "index.html";
}
if (File.Exists(mavelous_web + fileurl))
{
string header = "HTTP/1.1 200 OK\r\n";
if (fileurl.Contains(".htm"))
{
header += "Content-Type: text/html\r\n";
}
else if (fileurl.Contains(".js"))
{
header += "Content-Type: application/x-javascript\r\n";
}
else if (fileurl.Contains(".css"))
{
header += "Content-Type: text/css\r\n";
}
else
{
header += "Content-Type: text/plain\r\n";
}
var fileinfo = new FileInfo(mavelous_web + fileurl);
var filetime = fileinfo.LastWriteTimeUtc.ToString("ddd, dd MMM yyyy HH:mm:ss") + " GMT";
var modified = Regex.Match(head, "If-Modified-Since:(.*)", RegexOptions.IgnoreCase);
if (modified.Success && modified.Groups[1].Value.Trim().ToLower() == filetime.ToLower())
{
string header2 = "HTTP/1.1 304 not modified\r\nConnection: Keep-Alive\r\n\r\n";
byte[] temp2 = asciiEncoding.GetBytes(header2);
stream.Write(temp2, 0, temp2.Length);
stream.Flush();
goto again;
}
header += "Connection: keep-alive\r\nLast-Modified: " + filetime + "\r\nContent-Length: " + fileinfo.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
BinaryReader file =
new BinaryReader(File.Open(mavelous_web + fileurl, FileMode.Open, FileAccess.Read,
FileShare.Read));
byte[] buffer = new byte[1024];
while (file.BaseStream.Position < file.BaseStream.Length)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
file.Close();
stream.Flush();
goto again;
}
}
/////////////////////////////////////////////////////////////////
{
string header = "HTTP/1.1 404 not found\r\nConnection: Keep-Alive\r\nContent-Length: 0\r\nContent -Type: text/plain\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Flush();
goto again;
}
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains(" / "))
{
Console.WriteLine(url);
string header = "HTTP/1.1 200 OK\r\nConnection: close\r\nContent-Type: text/html\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
string content = @"
<a href=/mav/>Mavelous</a>
<a href=/mavlink/>Mavelous traffic</a>
<a href=/hud.jpg>Hud image</a>
<a href=/map.jpg>Map image </a>
<a href=/both.jpg>Map & hud image</a>
<a href=/hud.html>hud html5</a>
<a href=/network.kml>network kml</a>
<a href=/georefnetwork.kml>georef kml</a>
";
temp = asciiEncoding.GetBytes(content);
stream.Write(temp, 0, temp.Length);
}
/////////////////////////////////////////////////////////////////
else
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: text/plain\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
log.Info("Close http " + url);
client.Close();
}
catch (Exception ee)
{
log.Error("Failed http ", ee);
}
}
}
public void generateParcour(List <List <Vector> > listOfRoutes, List <string> ListOfRouteNames, List <List <Vector> > listOfNBL, List <string> listOfNBLNames, bool hasMarkers, bool showForbiddenArea, bool isStandardOrder, double channelWidth, double altitude, bool hasRoundedCorners)
{
string[] styleNames = { @"PolygonAndLine", @"PolygonAndLineNoFill" };
// Document document = new Document();
KMLPolygonStyle.AddStylesForPolygon(document, styleNames);
GeoData gc = new GeoData();
List <Feature> lstFeaturesPROHPolygon = new List <Feature>();
List <Feature> lstFeaturesSP = new List <Feature>();
List <Feature> lstFeaturesFP = new List <Feature>();
List <Feature> lstFeaturesNBLine = new List <Feature>();
List <Feature> lstFeaturesChannel = new List <Feature>();
Folder folderGeneral = new Folder();
folderGeneral.Name = "General";
Folder folderTKOFLines = new Folder();
folderTKOFLines.Name = "TakeOffLines";
// add a description
SharpKml.Dom.Description descr = new SharpKml.Dom.Description();
descr.Text = "Add manually one or multiple take-off line(s) for your airfield<br/>into this folder for later use/import. Read more...<br/><b>Naming convention:</b>Take-off line names must start with the word <b>TKOF</b>.<br/><b>Examples:</b>TKOF_RWY21, TKOF_WEST";
folderTKOFLines.Description = descr;
folderGeneral.AddFeature(folderTKOFLines);
Folder folderLiveTracking = new Folder();
folderLiveTracking.Name = "LiveTracking";
// folderLiveTracking.Description = "This folder can be used for LiveTracking. Andjust the PROH areas manually.</br> Then (using a text editor) set 'clampToGround' to 'relativeToGround'.</br>";
List <Vector> lstOldRightBorder = new List <Vector>();
for (int j = 0; j < listOfRoutes.Count(); j++)
{
List <Vector> routePoints = listOfRoutes[j];
List <Vector> lstOrigNBLine = new List <Vector>();
Vector NBLPointOnRoute = new Vector();
string routeName = ListOfRouteNames[j];
Folder folderBorders = new Folder();
folderBorders.Name = routeName + "_RouteBorders";
// calculate headings and left/right borders
List <double> lstHeadings = gc.CalculateHeadings(routePoints);
List <Vector> lstLeftBorder = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth, false, 1, hasRoundedCorners);
List <Vector> lstRightBorder = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth, true, 1, hasRoundedCorners);
List <Vector> lstRightBorderMod = lstRightBorder; // used in PROH area calcs
List <Vector> lstChannel = combineBorderVectorsForPolygon(lstLeftBorder, lstRightBorder);
if (lstChannel.Count > 1)
{ // remove duplicate point at the end
lstChannel.RemoveAt(lstChannel.Count - 1);
}
setAltitude(lstChannel, altitude);
// shift start and end points of border inwards
lstLeftBorder = gc.BorderModification(lstLeftBorder, SHIFT_DIST);
lstRightBorder = gc.BorderModification(lstRightBorder, SHIFT_DIST);
// calculate the gate points for start and end point gate. Fixed width 0.6 NM
// we will use later on only the first two/ last two points
List <Vector> lstGateLeft = gc.CalculateCurvePoint(routePoints, lstHeadings, GATE_WIDTH, false, 1, false);
List <Vector> lstGateRight = gc.CalculateCurvePoint(routePoints, lstHeadings, GATE_WIDTH, true, 1, false);
// SP line and FP line (use first/last points of left/right borders)
List <Vector> lstSP, lstFP, lstNBLine;
lstSP = new List <Vector>();
lstSP.Add(new Vector(lstGateRight[0].Latitude, lstGateRight[0].Longitude, altitude));
lstSP.Add(new Vector(lstGateLeft[0].Latitude, lstGateLeft[0].Longitude, altitude));
lstFP = new List <Vector>();
lstFP.Add(new Vector(lstGateRight[lstGateRight.Count - 1].Latitude, lstGateRight[lstGateRight.Count - 1].Longitude, altitude));
lstFP.Add(new Vector(lstGateLeft[lstGateLeft.Count - 1].Latitude, lstGateLeft[lstGateLeft.Count - 1].Longitude, altitude));
lstNBLine = new List <Vector>();
// check if we have a NBLINE for this route
if (listOfNBLNames.IndexOf(String.Format("NBLINE-{0}", routeName)) >= 0)
{
int idx = listOfNBLNames.IndexOf(String.Format("NBLINE-{0}", routeName));
int idxRoutePointBeforeNBL = -1;
lstOrigNBLine = listOfNBL[idx];
NBLPointOnRoute = gc.NBLPointOnRouteLine(routePoints, lstOrigNBLine, out idxRoutePointBeforeNBL);
if (idxRoutePointBeforeNBL > -1)
{
List <Vector> lstNBLSegm = new List <Vector>();
// create a short segment with the NBL point on the route line, and the first route point after the NBL point
lstNBLSegm.Add(NBLPointOnRoute);
lstNBLSegm.Add(routePoints[idxRoutePointBeforeNBL + 1]);
// calculate borders
List <double> lstNBLHdg = gc.CalculateHeadings(lstNBLSegm);
List <Vector> lstNBLGateLeft = gc.CalculateCurvePoint(lstNBLSegm, lstNBLHdg, channelWidth, false, 1, false);
List <Vector> lstNBLGateRight = gc.CalculateCurvePoint(lstNBLSegm, lstNBLHdg, channelWidth, true, 1, false);
lstNBLine.Clear();
lstNBLine.Add(new Vector(lstNBLGateRight[0].Latitude, lstNBLGateRight[0].Longitude, altitude));
lstNBLine.Add(new Vector(lstNBLGateLeft[0].Latitude, lstNBLGateLeft[0].Longitude, altitude));
}
}
List <Vector> lstLeftBorderForbiddenArea = new List <Vector>();
List <Vector> lstRightBorderForbiddenArea = new List <Vector>();
if (isStandardOrder)
{
if (j == 0)
{
// calculate LeftBorder PROH for first route
List <Vector> lstLeftBorderPROH = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth * 10, false, 1, false);
//TODO: add Gate Point as first/last point to lstLeftBorderPROH
lstLeftBorderPROH.Insert(0, lstGateLeft[0]);
lstLeftBorderPROH.Add(lstGateLeft[lstGateLeft.Count - 1]);
lstLeftBorderForbiddenArea = combineBorderVectorsForPolygon(lstLeftBorderPROH, lstLeftBorder);
setAltitude(lstLeftBorderForbiddenArea, altitude);
//TODO: add Gate Point as first/last point to lstRightBorderMod
lstRightBorderMod.Add(lstGateRight[0]);
lstRightBorderMod.Insert(0, lstGateRight[lstGateRight.Count - 1]);
}
else
{
// calculate LeftBorder PROH area from LeftBorder[j] and RightBorder[j-1]
lstOldRightBorder.Add(lstGateLeft[0]);
lstOldRightBorder.Insert(0, lstGateLeft[lstGateLeft.Count - 1]);
lstLeftBorderForbiddenArea = combineBorderVectorsForPolygon(lstOldRightBorder, lstLeftBorder);
setAltitude(lstLeftBorderForbiddenArea, altitude);
}
// for the last route, also calculate right border PROH
if (j == listOfRoutes.Count - 1)
{
List <Vector> lstRightBorderPROH = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth * 10, true, 1, false);
//TODO: add Gate Point as first/last point to lstRightBorderPROH
lstRightBorderPROH.Insert(0, lstGateRight[0]);
lstRightBorderPROH.Add(lstGateRight[lstGateRight.Count - 1]);
lstRightBorderForbiddenArea = combineBorderVectorsForPolygon(lstRightBorderPROH, lstRightBorder);
setAltitude(lstRightBorderForbiddenArea, altitude);
}
}
else
{ // not standard order, calculate right and left PROH areas for each channel
List <Vector> lstLeftBorderPROH = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth * 10, false, 1, false);
List <Vector> lstRightBorderPROH = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth * 10, true, 1, false);
lstLeftBorderForbiddenArea = combineBorderVectorsForPolygon(lstLeftBorderPROH, lstLeftBorder);
lstRightBorderForbiddenArea = combineBorderVectorsForPolygon(lstRightBorderPROH, lstRightBorder);
setAltitude(lstLeftBorderForbiddenArea, altitude);
setAltitude(lstRightBorderForbiddenArea, altitude);
}
lstOldRightBorder = lstRightBorderMod;
#region Creation of KML objects
var lineStrRoute = new SharpKml.Dom.LineString();
var lineStrRightBorder = new SharpKml.Dom.LineString();
var lineStrLeftBorder = new SharpKml.Dom.LineString();
var lineStrSP = new SharpKml.Dom.LineString();
var lineStrFP = new SharpKml.Dom.LineString();
var lineStrNBLine = new SharpKml.Dom.LineString();
var lineStrOrigNBLine = new SharpKml.Dom.LineString();
var lineStrChannel = new SharpKml.Dom.LineString();
lineStrRoute.Coordinates = new CoordinateCollection(routePoints);
lineStrRoute.Tessellate = true;
lineStrRightBorder.Coordinates = new CoordinateCollection(lstRightBorder);
lineStrLeftBorder.Coordinates = new CoordinateCollection(lstLeftBorder);
lineStrSP.Coordinates = new CoordinateCollection(lstSP);
lineStrFP.Coordinates = new CoordinateCollection(lstFP);
lineStrNBLine.Coordinates = new CoordinateCollection(lstNBLine);
lineStrOrigNBLine.Coordinates = new CoordinateCollection(lstOrigNBLine);
lineStrChannel.Coordinates = new CoordinateCollection(lstChannel);
var polygLeftBorderForbiddenArea = makeSimplePolygon(lstLeftBorderForbiddenArea, AltitudeMode.ClampToGround);
var polygRightBorderForbiddenArea = makeSimplePolygon(lstRightBorderForbiddenArea, AltitudeMode.ClampToGround);
var polySP = makeSimplePolygon(lineStrSP, AltitudeMode.RelativeToGround);
var polyFP = makeSimplePolygon(lineStrFP, AltitudeMode.RelativeToGround);
var polyChannel = makeSimplePolygon(lineStrChannel, AltitudeMode.ClampToGround);
var polyNBLine = new Polygon();
if (lstNBLine.Count > 0)
{
polyNBLine = makeSimplePolygon(lineStrNBLine, AltitudeMode.RelativeToGround);
}
// Route itself
var plm = new SharpKml.Dom.Placemark();
plm = makeSimplePlacemark(lineStrRoute, routeName);
folderGeneral.AddFeature(plm);
plm = makeSimplePlacemark(polyChannel, "CHANNEL-" + routeName, styleNames[1]);
lstFeaturesChannel.Add(plm);
// original hand-made NBLine
if (lstNBLine.Count > 0)
{
plm = new SharpKml.Dom.Placemark();
plm = makeSimplePlacemark(lineStrOrigNBLine, "NBLINE-" + routeName + " (orig)");
folderGeneral.AddFeature(plm);
}
// Right border line
plm = makeSimplePlacemark(lineStrRightBorder, routeName + "_RightBorder");
folderBorders.AddFeature(plm);
// Left border line
plm = makeSimplePlacemark(lineStrLeftBorder, routeName + "_LeftBorder");
folderBorders.AddFeature(plm);
// SP line
plm = makeSimplePlacemark(lineStrSP, "STARTPOINT-" + routeName);
folderBorders.AddFeature(plm);
// FP line
plm = makeSimplePlacemark(lineStrFP, "ENDPOINT-" + routeName);
folderBorders.AddFeature(plm);
// calculated NB line
if (lstNBLine.Count > 0)
{
plm = makeSimplePlacemark(lineStrNBLine, "NBLINE-" + routeName);
folderBorders.AddFeature(plm);
}
plm = makeSimplePlacemark(polySP, "STARTPOINT-" + routeName, styleNames[0]);
lstFeaturesSP.Add(plm);
plm = makeSimplePlacemark(polyFP, "ENDPOINT-" + routeName, styleNames[0]);
lstFeaturesFP.Add(plm);
if (lstNBLine.Count > 0)
{
plm = makeSimplePlacemark(polyNBLine, "NBLINE-" + routeName, styleNames[0]);
lstFeaturesNBLine.Add(plm);
}
folderGeneral.AddFeature(folderBorders);
if (showForbiddenArea)
{
//Folder folder = new Folder();
//folder.Name = "PROH-Areas " + routeName;
// add forbidden Area (Polygon area)
if (lstRightBorderForbiddenArea.Count > 0)
{
var placemarkPolyg = makeSimplePlacemark(polygRightBorderForbiddenArea, "PROH " + routeName + " Right", styleNames[0]);
lstFeaturesPROHPolygon.Add(placemarkPolyg);
}
if (lstLeftBorderForbiddenArea.Count > 0)
{
var placemarkPolyg = makeSimplePlacemark(polygLeftBorderForbiddenArea, "PROH " + routeName + " Left", styleNames[0]);
lstFeaturesPROHPolygon.Add(placemarkPolyg);
}
}
if (hasMarkers)
{
// OPTIONAL: add markers if required for all route points
Folder folder = new Folder();
folder.Name = routeName + "_RouteMarkers";
for (int i = 0; i < routePoints.Count; i++)
{
Placemark pm = new Placemark();
SharpKml.Dom.Point pt = new SharpKml.Dom.Point();
pt.Coordinate = new Vector(routePoints[i].Latitude, routePoints[i].Longitude);
pm.Geometry = pt;
pm.Name = String.Format("TP_{0}_{1}", i.ToString().PadLeft(2, '0'), routeName);
if (i == 0)
{
pm.Name = String.Format("SP_{0}", routeName);
}
if (i == routePoints.Count - 1)
{
pm.Name = String.Format("FP_{0}", routeName);
}
folder.AddFeature(pm);
}
if (lstNBLine.Count > 0)
{
Placemark pm = new Placemark();
SharpKml.Dom.Point pt = new SharpKml.Dom.Point();
pt.Coordinate = new Vector(NBLPointOnRoute.Latitude, NBLPointOnRoute.Longitude);
pm.Geometry = pt;
pm.Name = String.Format("NBLINE_{0}", routeName);
folder.AddFeature(pm);
}
folderGeneral.AddFeature(folder);
}
#endregion
}
#region Create Kml document
for (int i = 0; i < lstFeaturesPROHPolygon.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesPROHPolygon[i].Clone());
}
for (int i = 0; i < lstFeaturesSP.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesSP[i].Clone());
}
for (int i = 0; i < lstFeaturesFP.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesFP[i].Clone());
}
for (int i = 0; i < lstFeaturesChannel.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesChannel[i].Clone());
}
for (int i = 0; i < lstFeaturesNBLine.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesNBLine[i].Clone());
}
document.AddFeature(folderGeneral);
document.AddFeature(folderLiveTracking);
#endregion
}
public void DoAcceptTcpClientCallback(IAsyncResult ar)
{
// Get the listener that handles the client request.
TcpListener listener = (TcpListener) ar.AsyncState;
// End the operation and display the received data on
// the console.
using (
TcpClient client = listener.EndAcceptTcpClient(ar))
{
// Signal the calling thread to continue.
tcpClientConnected.Set();
try
{
// Get a stream object for reading and writing
log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
//client.SendBufferSize = 100 * 1024; // 100kb
//client.LingerState.Enabled = true;
//client.NoDelay = true;
// makesure we have valid image
GCSViews.FlightData.myhud.streamjpgenable = true;
NetworkStream stream = client.GetStream();
// 5 seconds - default for httpd 2.2+
stream.ReadTimeout = 5000;
goto skipagain;
again:
log.Info("doing Again");
skipagain:
var asciiEncoding = new ASCIIEncoding();
var request = new byte[1024*4];
int len = 0;
// handle header
try
{
len = stream.Read(request, 0, request.Length);
}
catch
{
return;
}
string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
log.Info(head);
int index = head.IndexOf('\n');
string url = head.Substring(0, index - 1);
//url = url.Replace("\r", "");
//url = url.Replace("GET ","");
//url = url.Replace(" HTTP/1.0", "");
//url = url.Replace(" HTTP/1.1", "");
Tracking.AddEvent("HTTPServer", "Get", url, "");
/////////////////////////////////////////////////////////////////
if (url.Contains("websocket"))
{
using (var writer = new StreamWriter(stream, Encoding.Default))
{
writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
writer.WriteLine("Upgrade: WebSocket");
writer.WriteLine("Connection: Upgrade");
writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");
int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
int end = head.IndexOf('\r', start);
if (end == -1)
end = head.IndexOf('\n', start);
string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));
writer.WriteLine("Sec-WebSocket-Accept: " + accept);
writer.WriteLine("Server: Mission Planner");
writer.WriteLine("");
writer.Flush();
while (client.Connected)
{
Thread.Sleep(200);
log.Debug(stream.DataAvailable + " " + client.Available);
while (client.Available > 0)
{
Console.Write(stream.ReadByte());
}
byte[] packet = new byte[1024];
string sendme = MainV2.comPort.MAV.cs.roll + "," + MainV2.comPort.MAV.cs.pitch + "," + MainV2.comPort.MAV.cs.yaw
+ "," + MainV2.comPort.MAV.cs.lat + "," + MainV2.comPort.MAV.cs.lng + "," + MainV2.comPort.MAV.cs.alt;
packet[0] = 0x81; // fin - binary
packet[1] = (byte) sendme.Length;
int i = 2;
foreach (char ch in sendme)
{
packet[i++] = (byte) ch;
}
stream.Write(packet, 0, i);
//break;
}
}
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("georefnetwork.kml"))
{
byte[] buffer = Encoding.ASCII.GetBytes(georefkml);
string header =
"HTTP/1.1 200 OK\r\nServer: here\r\nKeep-Alive: timeout=15, max=100\r\nConnection: Keep-Alive\r\nCache-Control: no-cache\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nX-Pad: avoid browser bug\r\nContent-Length: " +
buffer.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(buffer, 0, buffer.Length);
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("network.kml"))
{
SharpKml.Dom.Document kml = new SharpKml.Dom.Document();
SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
pmplane.Name = "P/Q " + MainV2.comPort.MAV.cs.altasl;
pmplane.Visibility = true;
SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
loc.Latitude = MainV2.comPort.MAV.cs.lat;
loc.Longitude = MainV2.comPort.MAV.cs.lng;
loc.Altitude = MainV2.comPort.MAV.cs.altasl;
if (loc.Altitude < 0)
loc.Altitude = 0.01;
SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
ori.Heading = MainV2.comPort.MAV.cs.yaw;
ori.Roll = -MainV2.comPort.MAV.cs.roll;
ori.Tilt = -MainV2.comPort.MAV.cs.pitch;
SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
sca.X = 2;
sca.Y = 2;
sca.Z = 2;
SharpKml.Dom.Model model = new SharpKml.Dom.Model();
model.Location = loc;
model.Orientation = ori;
model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
model.Scale = sca;
SharpKml.Dom.Link link = new SharpKml.Dom.Link();
link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
model.Link = link;
pmplane.Geometry = model;
SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
{
Altitude = loc.Altitude.Value,
Latitude = loc.Latitude.Value,
Longitude = loc.Longitude.Value,
Tilt = 80,
Heading = MainV2.comPort.MAV.cs.yaw,
AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
Range = 50
};
if (loc.Latitude.Value != 0 && loc.Longitude.Value != 0)
{
kml.Viewpoint = la;
kml.AddFeature(pmplane);
}
SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();
//if (loc.Latitude.Value != 0 && loc.Longitude.Value != 0)
{
//foreach (var point in MainV2.comPort.MAV.wps.Values)
{
// coords.Add(new SharpKml.Base.Vector(point.x, point.y, point.z));
}
}
//else
{
PointLatLngAlt home = null;
// draw track
try
{
foreach (var point in GCSViews.FlightPlanner.instance.fullpointlist)
{
if (point.Tag.ToLower().Contains("home"))
home = point;
if (point != null)
coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));
}
}
catch
{
}
foreach (var point in GCSViews.FlightPlanner.instance.fullpointlist)
{
if (point == null)
continue;
SharpKml.Dom.Placemark wp = new SharpKml.Dom.Placemark();
wp.Name = "WP " + point.Tag + " Alt: " + point.Alt;
SharpKml.Dom.Point wppoint = new SharpKml.Dom.Point();
var altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
wppoint.AltitudeMode = altmode;
wppoint.Coordinate = new Vector()
{
Latitude = point.Lat,
Longitude = point.Lng,
Altitude = point.Alt
};
wp.Geometry = wppoint;
kml.AddFeature(wp);
}
}
SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
ls.AltitudeMode = SharpKml.Dom.AltitudeMode.RelativeToGround;
ls.Coordinates = coords;
ls.Extrude = false;
ls.Tessellate = true;
Style style = new Style();
style.Id = "yellowLineGreenPoly";
style.Line = new LineStyle(new Color32(HexStringToColor("ff00ffff")), 4);
Style style2 = new Style();
style2.Id = "yellowLineGreenPoly";
style2.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);
// above ground
SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark()
{
Geometry = ls,
Name = "WPs",
StyleSelector = style
};
kml.AddFeature(pm);
// on ground
SharpKml.Dom.LineString ls2 = new SharpKml.Dom.LineString();
ls2.Coordinates = coords;
ls2.Extrude = false;
ls2.Tessellate = true;
ls2.AltitudeMode = SharpKml.Dom.AltitudeMode.ClampToGround;
SharpKml.Dom.Placemark pm2 = new SharpKml.Dom.Placemark()
{
Geometry = ls2,
Name = "onground",
StyleSelector = style2
};
kml.AddFeature(pm2);
SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
serializer.Serialize(kml);
byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);
string header =
"HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " +
buffer.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(buffer, 0, buffer.Length);
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("block_plane_0.dae"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
BinaryReader file =
new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read,
FileShare.Read));
byte[] buffer = new byte[1024];
while (file.PeekChar() != -1)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
file.Close();
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("hud.html"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
BinaryReader file =
new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
byte[] buffer = new byte[1024];
while (file.PeekChar() != -1)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
file.Close();
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") ||
url.ToLower().Contains("both.jpg"))
{
refreshmap();
string header =
"HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=PLANNER\r\n\r\n--PLANNER\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
while (client.Connected)
{
System.Threading.Thread.Sleep(200); // 5hz
byte[] data = null;
if (url.ToLower().Contains("hud"))
{
GCSViews.FlightData.myhud.streamjpgenable = true;
data = GCSViews.FlightData.myhud.streamjpg.ToArray();
}
else if (url.ToLower().Contains("map"))
{
data = GetControlJpegRaw(GCSViews.FlightData.mymap);
}
else
{
GCSViews.FlightData.myhud.streamjpgenable = true;
Image img1 = Image.FromStream(GCSViews.FlightData.myhud.streamjpg);
Image img2 = GetControlJpeg(GCSViews.FlightData.mymap);
int bigger = img1.Height > img2.Height ? img1.Height : img2.Height;
Image imgout = new Bitmap(img1.Width + img2.Width, bigger);
Graphics grap = Graphics.FromImage(imgout);
grap.DrawImageUnscaled(img1, 0, 0);
grap.DrawImageUnscaled(img2, img1.Width, 0);
MemoryStream streamjpg = new MemoryStream();
imgout.Save(streamjpg, System.Drawing.Imaging.ImageFormat.Jpeg);
data = streamjpg.ToArray();
}
header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n";
temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(data, 0, data.Length);
header = "\r\n--PLANNER\r\n";
temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
GCSViews.FlightData.myhud.streamjpgenable = false;
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("/guided?"))
{
//http://127.0.0.1:56781/guided?lat=-34&lng=117.8&alt=30
Regex rex = new Regex(@"lat=([\-\.0-9]+)&lng=([\-\.0-9]+)&alt=([\.0-9]+)",
RegexOptions.IgnoreCase);
Match match = rex.Match(url);
if (match.Success)
{
Locationwp gwp = new Locationwp()
{
lat = double.Parse(match.Groups[1].Value),
lng = double.Parse(match.Groups[2].Value),
alt = float.Parse(match.Groups[3].Value)
};
try
{
MainV2.comPort.setGuidedModeWP(gwp);
}
catch
{
}
string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
else
{
string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains(".jpg"))
{
Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);
Match match = rex.Match(url);
if (match.Success)
{
string fileurl = match.Groups[2].Value;
using (Image orig = Image.FromFile(georefimagepath + fileurl))
using (Image resi = ResizeImage(orig, new Size(640, 480)))
using (MemoryStream memstream = new MemoryStream())
{
resi.Save(memstream, System.Drawing.Imaging.ImageFormat.Jpeg);
memstream.Position = 0;
string header =
"HTTP/1.1 200 OK\r\nServer: here\r\nKeep-Alive: timeout=15, max=100\r\nConnection: Keep-Alive\r\nContent-Type: image/jpg\r\nX-Pad: avoid browser bug\r\nContent-Length: " +
memstream.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
using (BinaryReader file = new BinaryReader(memstream))
{
byte[] buffer = new byte[1024];
while (file.BaseStream.Position < file.BaseStream.Length)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
}
}
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("post /guide"))
{
Regex rex = new Regex(@"lat"":([\-\.0-9]+),""lon"":([\-\.0-9]+),""alt"":([\.0-9]+)",
RegexOptions.IgnoreCase);
Match match = rex.Match(head);
if (match.Success)
{
Locationwp gwp = new Locationwp()
{
lat = double.Parse(match.Groups[1].Value),
lng = double.Parse(match.Groups[2].Value),
alt = float.Parse(match.Groups[3].Value)
};
try
{
MainV2.comPort.setGuidedModeWP(gwp);
}
catch
{
}
string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
else
{
string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/command_long"))
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/rcoverride"))
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/get_mission"))
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/mavlink/"))
{
/*
GET /mavlink/ATTITUDE+VFR_HUD+NAV_CONTROLLER_OUTPUT+META_WAYPOINT+GPS_RAW_INT+HEARTBEAT+META_LINKQUALITY+GPS_STATUS+STATUSTEXT+SYS_STATUS?_=1355828718540 HTTP/1.1
Host: ubuntu:9999
Connection: keep-alive
X-Requested-With: XMLHttpRequest
User-Agent: Mozilla/5.0 (Windows NT 6.1; WOW64) AppleWebKit/537.11 (KHTML, like Gecko) Chrome/23.0.1271.97 Safari/537.11
Accept:
Referer: http://ubuntu:9999/index.html
Accept-Encoding: gzip,deflate,sdch
Accept-Language: en-GB,en-US;q=0.8,en;q=0.6
Accept-Charset: ISO-8859-1,utf-8;q=0.7,*;q=0.3
HTTP/1.1 200 OK
Content-Type: application/json
Content-Length: 2121
Date: Thu, 29 Nov 2012 12:13:38 GMT
Server: ubuntu
{
"VFR_HUD": {"msg": {"throttle": 0, "groundspeed": 0.0, "airspeed": 0.0, "climb": 0.0, "mavpackettype": "VFR_HUD", "alt": -0.47999998927116394, "heading": 108}, "index": 687, "time_usec": 0},
"STATUSTEXT": {"msg": {"mavpackettype": "STATUSTEXT", "severity": 1, "text": "Initialising APM..."}, "index": 2, "time_usec": 0},
"SYS_STATUS": {"msg": {"onboard_control_sensors_present": 4294966287, "load": 0, "battery_remaining": -1, "errors_count4": 0, "drop_rate_comm": 0, "errors_count2": 0, "errors_count3": 0, "errors_comm": 0, "current_battery": -1, "errors_count1": 0, "onboard_control_sensors_health": 4294966287, "mavpackettype": "SYS_STATUS", "onboard_control_sensors_enabled": 4294945807, "voltage_battery": 10080}, "index": 693, "time_usec": 0},
"META_LINKQUALITY": {"msg": {"master_in": 11110, "mav_loss": 0, "mavpackettype": "META_LINKQUALITY", "master_out": 194, "packet_loss": 0.0}, "index": 194, "time_usec": 0},
"ATTITUDE": {"msg": {"pitchspeed": -0.000976863200776279, "yaw": 1.8878594636917114, "rollspeed": -0.0030046366155147552, "time_boot_ms": 194676, "pitch": -0.09986469894647598, "mavpackettype": "ATTITUDE", "yawspeed": -0.0015030358918011189, "roll": -0.029391441494226456}, "index": 687, "time_usec": 0},
"GPS_RAW_INT": {"msg": {"fix_type": 1, "cog": 0, "epv": 65535, "lon": 0, "time_usec": 0, "eph": 9999, "satellites_visible": 0, "lat": 0, "mavpackettype": "GPS_RAW_INT", "alt": 137000, "vel": 0}, "index": 687, "time_usec": 0},
"HEARTBEAT": {"msg": {"custom_mode": 0, "system_status": 4, "base_mode": 81, "autopilot": 3, "mavpackettype": "HEARTBEAT", "type": 2, "mavlink_version": 3}, "index": 190, "time_usec": 0},
"GPS_STATUS": {"msg": {"satellite_snr": "", "satellite_azimuth": "", "satellite_prn": "", "satellite_elevation": "", "satellites_visible": 0, "satellite_used": "", "mavpackettype": "GPS_STATUS"}, "index": 2, "time_usec": 0},
"NAV_CONTROLLER_OUTPUT": {"msg": {"wp_dist": 0, "nav_pitch": 0.0, "target_bearing": 0, "nav_roll": 0.0, "aspd_error": 0.0, "alt_error": 0.0, "mavpackettype": "NAV_CONTROLLER_OUTPUT", "xtrack_error": 0.0, "nav_bearing": 0}, "index": 687, "time_usec": 0}}
*/
JavaScriptSerializer serializer = new JavaScriptSerializer();
object[] data = new object[20];
Messagejson message = new Messagejson();
if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.ATTITUDE) != null)
message.ATTITUDE = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE)
.ToStructure<MAVLink.mavlink_attitude_t>()
};
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD) != null)
message.VFR_HUD = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD)
.ToStructure<MAVLink.mavlink_vfr_hud_t>()
};
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT) != null)
message.NAV_CONTROLLER_OUTPUT = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT)
.ToStructure<MAVLink.mavlink_nav_controller_output_t>()
};
if (MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT) != null)
message.GPS_RAW_INT = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT)
.ToStructure<MAVLink.mavlink_gps_raw_int_t>()
};
if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.HEARTBEAT) != null)
message.HEARTBEAT = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.HEARTBEAT)
.ToStructure<MAVLink.mavlink_heartbeat_t>()
};
if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.GPS_STATUS) != null)
message.GPS_STATUS = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.GPS_STATUS)
.ToStructure<MAVLink.mavlink_gps_status_t>()
};
if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.STATUSTEXT) != null)
message.STATUSTEXT = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
.ToStructure<MAVLink.mavlink_statustext_t>()
};
if (MainV2.comPort.MAV.getPacket((byte) MAVLink.MAVLINK_MSG_ID.SYS_STATUS) != null)
message.SYS_STATUS = new Message2()
{
index = 1,
msg =
MainV2.comPort.MAV.getPacket((byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS)
.ToStructure<MAVLink.mavlink_sys_status_t>()
};
message.META_LINKQUALITY =
message.SYS_STATUS =
new Message2()
{
index = packetindex,
time_usec = 0,
msg =
new META_LINKQUALITY()
{
master_in = (int) MainV2.comPort.MAV.packetsnotlost,
mavpackettype = "META_LINKQUALITY",
master_out = MainV2.comPort.packetcount,
packet_loss = 100 - MainV2.comPort.MAV.cs.linkqualitygcs,
mav_loss = 0
}
};
packetindex++;
string output = serializer.Serialize(message);
string header = "HTTP/1.1 200 OK\r\nContent-Type: application/json\r\nContent-Length: " +
output.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
temp = asciiEncoding.GetBytes(output);
stream.Write(temp, 0, temp.Length);
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/mav/"))
{
//C:\Users\hog\Desktop\DIYDrones\mavelous\modules\lib\mavelous_web
Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);
Match match = rex.Match(url);
if (match.Success)
{
string fileurl = match.Groups[2].Value;
fileurl = fileurl.Replace("/mav/", "");
if (fileurl == "" || fileurl == "/")
fileurl = "index.html";
string header = "HTTP/1.1 200 OK\r\n";
if (fileurl.Contains(".html"))
header += "Content-Type: text/html\r\n\r\n";
else if (fileurl.Contains(".js"))
header += "Content-Type: application/x-javascript\r\n\r\n";
else if (fileurl.Contains(".css"))
header += "Content-Type: text/css\r\n\r\n";
else
header += "Content-Type: text/plain\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
BinaryReader file =
new BinaryReader(File.Open(mavelous_web + fileurl, FileMode.Open, FileAccess.Read,
FileShare.Read));
byte[] buffer = new byte[1024];
while (file.BaseStream.Position < file.BaseStream.Length)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
file.Close();
stream.Close();
}
/////////////////////////////////////////////////////////////////
else
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
}
/////////////////////////////////////////////////////////////////
else
{
Console.WriteLine(url);
string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
string content = @"
<a href=/mav/>Mavelous</a>
<a href=/mavlink/>Mavelous traffic</a>
<a href=/hud.jpg>Hud image</a>
<a href=/map.jpg>Map image </a>
<a href=/both.jpg>Map & hud image</a>
<a href=/hud.html>hud html5</a>
<a href=/network.kml>network kml</a>
<a href=/georefnetwork.kml>georef kml</a>
";
temp = asciiEncoding.GetBytes(content);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
log.Info("Close http " + url);
}
catch (Exception ee)
{
log.Error("Failed http ", ee);
}
}
}
private void ProcessPointGeometry(Point f)
{
var coords = new Coordinate(f.Coordinate.Longitude, f.Coordinate.Latitude);
var pGeom = _geometryFactory.CreatePoint(coords);
AddGeometryToCollection(f.GetParent<Placemark>(), pGeom);
}
static void Main(string[] args)
{
TextDatei textDatei = new TextDatei();
int state = 0;
bool exit = false;
bool argsFertig = false;
bool startWithArgs = false;
string file_path_gesamt = ""; // Gesamter Pfad der Datei. Zum Beispiel: "F:\\Dropbox\\Schlapphut-Projekt\\GPS-Files\\20180628.SLP"
string dir_path = ""; // Pfad zum Verzeichnis der Datei. Zum Beispiel: "F:\\Dropbox\\Schlapphut-Projekt\\GPS-Files"
string file_name = ""; // Name der Datei. Zum Beispiel: "20180628"
string file_type = ""; // Dateityp der Datei. Zum Beispiel: "SLP"
const string dir_kml = "\\KML"; // Unterverzeichnis, in welchem die konvertierte KML-Datei gespeichert wird
SlpType slpFileType = SlpType.None; // Der Typ der SLP-Datei
List <String> file_lines = new List <string>();
// Fuer KML-Dokument
var root = new Document();
root.Open = true; // Bei Google-Earth das Tree-Menu ausklappen
// Erstelle Styles
Style normalStyle = CreateNormalSyle();
Style highlightStyle = CreateHighlightSyle();
StyleSelector styleSelector = createPlacemarkLineStyleMap(normalStyle, highlightStyle);
// Weise Styles zu
root.AddStyle(normalStyle);
root.AddStyle(highlightStyle);
root.AddStyle(styleSelector);
Console.ForegroundColor = ConsoleColor.DarkGray;
Console.WriteLine("KML Converter v1.0 (c) Axfire123, June 2018\r\n");
Console.ResetColor();
while (!exit)
{
switch (state)
{
case -1: // Reset
{
Console.WriteLine("\r\n\r\n");
state = 0;
break;
}
case 0: // Dateipfad einlesen
{
// Prüfen, ob beim Programmaufruf eine oder mehrere
// Zeichenfolgen übergeben worden sind
if ((args.Length == 0) || (argsFertig == true))
{
Console.WriteLine("Bitte ziehe eine SLP-Datei in das Fenster und bestätige mit Enter\r\n");
//Console.ResetColor();
file_path_gesamt = Console.ReadLine();
if (file_path_gesamt == String.Empty)
{
Console.ForegroundColor = ConsoleColor.Red;
Console.WriteLine("Es wurde keine Datei ausgewählt!");
state = -1;
}
else
{
state = 1;
}
}
else
{
file_path_gesamt = args[0];
state = 1;
startWithArgs = true;
}
break;
}
case 1: // Untersuche einzulesende Datei
{
dir_path = getDirFromPath(file_path_gesamt);
file_name = getNameFromPath(file_path_gesamt);
file_type = getFileTypeFromPath(file_path_gesamt);
// püfe auf richtiges Dateiformat
if (file_type.ToLower() != "slp")
{
Console.ForegroundColor = ConsoleColor.Red;
Console.WriteLine("Die gewählte Datei ist vom falschen Typ. Es werden nur .txt Dateien unterstützt!");
Console.ResetColor();
state = -1;
}
else
{
state = 2;
}
//
break;
}
case 2: // Datei einlesen
{
try
{
// Lese Datei ein
for (int i = 0; i < textDatei.getNumberOfLines(file_path_gesamt); i++)
{
file_lines.Add(textDatei.ReadLine(file_path_gesamt, i + 1));
}
if (file_lines.Count != 0)
{
Console.WriteLine("Datei \"{0}.slp\" erfolgreich eingelesen", file_name);
state = 6;
}
else
{
Console.WriteLine("Aus Datei \"{0}.slp\" konnte keine Zeilen gelesen werden", file_name);
state = -1;
}
}
catch (Exception ex)
{
Console.WriteLine("Datei \"{0}.slp\" konnte nicht gelesen werden", file_name);
Console.WriteLine(ex.Message);
state = -1;
}
break;
}
case 6: // Typ der SLP-Datei prüfen. Handelt es sich um Tracks oder Points?
{
// In der ersten Zeile der SLP-Datei sollte der Typ stehen
if (file_lines[0] == "TYPE=TRACK")
{
state = 3;
slpFileType = SlpType.Track;
Console.WriteLine("TYPE=TRACK in \"{0}.slp\" gefunden", file_name);
}
else if (file_lines[0] == "TYPE=POINT")
{
state = 7;
slpFileType = SlpType.Point;
Console.WriteLine("TYPE=POINT in \"{0}.slp\" gefunden", file_name);
}
else
{
state = 3;
slpFileType = SlpType.Track;
Console.WriteLine("Keine Version in \"{0}.slp\" gefunden. Gehe von TYPE=TRACK aus", file_name);
}
break;
}
case 3: // Version Track: Zeilen der Datei konvertieren und zu Track hinzufuegen
{
double lat;
double lon;
DateTime dateTime;
bool trackAnfang;
bool ersterTrackGefunden = false;
int placemarkNumber = 1;
var track = new SharpKml.Dom.GX.Track();
Placemark placemark = new Placemark();
placemark.Name = "Track " + placemarkNumber;
placemark.Open = true; // Bei Google-Earth das Tree-Menu ausklappen
for (int i = 0; i < file_lines.Count; i++)
{
if (parseLine(file_lines[i], out lat, out lon, out dateTime, out trackAnfang))
{
// Wurde ein Trackanfang gefunden
if (trackAnfang)
{
// Handel es sich um den ertsen Track der Datei
if (ersterTrackGefunden == false)
{
// ja => mache nichts
ersterTrackGefunden = true;
}
else
{
// nein => speicher aktuellen Track ab
// hat Track ueberhaupt Inhalt?
if (track.Coordinates.Count() > 0)
{
// Weise Styleselector zu
placemark.StyleUrl = new Uri(String.Format("#{0}", styleSelector.Id), UriKind.Relative);
// Placemark Description
DateTime start = track.When.ElementAt(0); // Hole das Startdatum des Tracks
DateTime ende = track.When.ElementAt <DateTime>(track.When.Count() - 1); // Hole das Enddatum des Tracks
SharpKml.Dom.Description description = new Description();
description.Text = String.Format("Start: {0}\nEnde: {1}\nZeit: {2} Minuten", start.ToLongTimeString(), ende.ToLongTimeString(), Convert.ToInt16(ende.Subtract(start).TotalMinutes));
placemark.Description = description;
// Placemark Geometry / Inhalt
placemark.Geometry = track;
// Fuege Track hinzu
root.AddFeature(placemark);
// Placemark Nummer erhoehen
placemarkNumber++;
}
// Neue Instanzen bilden
track = new SharpKml.Dom.GX.Track();
placemark = new Placemark();
placemark.Name = "Track " + placemarkNumber;
}
}
else
{
// speicher Koordinaten-Daten in Track
var vector = new Vector(lat, lon);
track.AddCoordinate(vector);
track.AddWhen(dateTime);
}
}
}
// speicher ggf. letzten Track ab
if (track.When.Count() > 0)
{
// Weise Styleselector zu
placemark.StyleUrl = new Uri(String.Format("#{0}", styleSelector.Id), UriKind.Relative);
// Placemark Description
DateTime start = track.When.ElementAt(0); // Hole das Startdatum des Tracks
DateTime ende = track.When.ElementAt <DateTime>(track.When.Count() - 1); // Hole das Enddatum des Tracks
SharpKml.Dom.Description description = new Description();
description.Text = String.Format("Start: {0}\nEnde: {1}\nZeit: {2} Minuten", start.ToLongTimeString(), ende.ToLongTimeString(), Convert.ToInt16(ende.Subtract(start).TotalMinutes));
placemark.Description = description;
// Placemark Geometry / Inhalt
placemark.Geometry = track;
// Fuege Track hinzu
root.AddFeature(placemark);
}
state = 4;
break;
}
case 7: // Type Point: Zeilen der Datei konvertieren und zu Point hinzufuegen
{
double lat;
double lon;
DateTime dateTime;
bool trackAnfang; // Auch wenn es beim Poit keinen Trackanfang gibt, wird die Variabel fuer die Funktion gebraucht
int placemarkNumber = 1;
for (int i = 0; i < file_lines.Count; i++)
{
if (parseLine(file_lines[i], out lat, out lon, out dateTime, out trackAnfang))
{
// Wurde ein Trackanfang gefunden
if (trackAnfang)
{
continue; // es gibt beim Point keinen Trackanfang...
}
else
{
var point = new SharpKml.Dom.Point();
Placemark placemark = new Placemark();
placemark.Name = "Point " + placemarkNumber++;
placemark.Open = true; // Bei Google-Earth das Tree-Menu ausklappen
// Speicher Daten in Point
Vector vector = new Vector(lat, lon);
point.Coordinate = vector;
// Erzeuge Placemark-Beschreibung
SharpKml.Dom.Description description = new Description();
description.Text = String.Format("Datum: {0}\nUhrzeit: {1}", dateTime.ToLongDateString(), dateTime.ToLongTimeString());
placemark.Description = description;
// Fuege den Point dem Placemark hinzu
placemark.Geometry = point;
// Fuege den Placemark dem Dokument hinzu
root.AddFeature(placemark);
}
}
}
state = 4;
break;
}
case 4: // KML-File erstellen
{
KmlFile kml = KmlFile.Create(root, false);
try
{
String kmlDirPath = dir_path + dir_kml; // Pfad zum Verzeichnis
// KML-File Name
// konvertiere den "yyMMdd" Namen der SLP-Datei in das besser lesbare "yy-MM-dd" Format
String kml_file_name = String.Empty;
try
{
DateTime dateTime = DateTime.ParseExact(file_name, "yyyyMMdd", System.Globalization.CultureInfo.InvariantCulture);
kml_file_name = dateTime.ToString("yyyy-MM-dd");
}
catch
{
kml_file_name = file_name;
}
//
// SLP-Typ als Name anhaengen
if (slpFileType == SlpType.Track)
{
kml_file_name += " Track";
}
else if (slpFileType == SlpType.Point)
{
kml_file_name += " Point";
}
String kmlFilePath = kmlDirPath + "\\" + kml_file_name + ".kml"; // Pfad zur Datei
// Directory erzeugen, falls nicht vorhanden
if (!Directory.Exists(kmlDirPath))
{
Directory.CreateDirectory(kmlDirPath);
}
// Speicher
using (FileStream stream = File.OpenWrite(kmlFilePath))
{
kml.Save(stream);
}
Console.WriteLine("KML-Datei \"{0}.kml\" wurde erfolgreich gespeichert", file_name);
}
catch (Exception ex)
{
Console.WriteLine("KML-Datei \"{0}.kml\" konnte nicht gespeichert werden", file_name);
Console.WriteLine(ex.Message);
}
root = new Document();
root.Open = true; // Bei Google-Earth das Tree-Menu ausklappen
state = 5;
break;
}
case 5: // Wie gehts weiter?
if (startWithArgs)
{
exit = true;
// warte x Sekunden, bis Programm geschlossen wird
Console.Write("Programm wird beendet ");
System.Threading.Thread.Sleep(100);
Console.Write(".");
System.Threading.Thread.Sleep(100);
Console.Write(".");
System.Threading.Thread.Sleep(100);
Console.Write(".");
System.Threading.Thread.Sleep(100);
Console.Write(".");
System.Threading.Thread.Sleep(100);
Console.Write(".");
System.Threading.Thread.Sleep(100);
Console.Write(".");
System.Threading.Thread.Sleep(100);
Console.Write(".");
System.Threading.Thread.Sleep(100);
Console.Write("\r\nBey!");
System.Threading.Thread.Sleep(500);
}
else
{
state = -1;
}
break;
}
}
}
protected virtual Feature CreateKmlFeature(FeatureDataRow feature, StyleSelector style)
{
var geometry = feature.Geometry;
geometry = ToTarget(geometry);
switch (geometry.OgcGeometryType)
{
case OgcGeometryType.Point:
{
var location = geometry.Coordinate;
var p = new Point {
Coordinate = new Vector(location.Y, location.X)
};
return(WrapPlacemark(p, style, feature));
}
case OgcGeometryType.MultiPoint:
{
var multiGeometry = new MultipleGeometry();
foreach (var coordinate in geometry.Coordinates)
{
var p = new Point {
Coordinate = new Vector(coordinate.Y, coordinate.X)
};
multiGeometry.AddGeometry(p);
}
return(WrapPlacemark(multiGeometry, style, feature));
}
case OgcGeometryType.LineString:
{
var lineString = CreateLineString(geometry);
return(WrapPlacemark(lineString, style, feature));
}
case OgcGeometryType.Polygon:
{
var polygon = (IPolygon)geometry;
var kmlPolygon = CreateKmlPolygon(polygon);
return(WrapPlacemark(kmlPolygon, style, feature));
}
case OgcGeometryType.MultiLineString:
{
var multiGeometry = new MultipleGeometry();
var multiLineString = (IMultiLineString)geometry;
foreach (var innerGeometry in multiLineString.Geometries)
{
var lineString = CreateLineString(innerGeometry);
multiGeometry.AddGeometry(lineString);
}
return(WrapPlacemark(multiGeometry, style, feature));
}
case OgcGeometryType.MultiPolygon:
{
var multiGeometry = new MultipleGeometry();
var multiPoly = (IMultiPolygon)geometry;
foreach (var innerGeometry in multiPoly.Geometries.Cast <IPolygon>())
{
var polygon = CreateKmlPolygon(innerGeometry);
multiGeometry.AddGeometry(polygon);
}
return(WrapPlacemark(multiGeometry, style, feature));
}
default:
throw new InvalidOperationException("Geometry not supported");
}
}
public void DoAcceptTcpClientCallback(IAsyncResult ar)
{
// Get the listener that handles the client request.
TcpListener listener = (TcpListener)ar.AsyncState;
// End the operation and display the received data on
// the console.
using (
TcpClient client = listener.EndAcceptTcpClient(ar))
{
// Signal the calling thread to continue.
tcpClientConnected.Set();
try
{
// Get a stream object for reading and writing
log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
//client.SendBufferSize = 100 * 1024; // 100kb
//client.LingerState.Enabled = true;
//client.NoDelay = true;
// makesure we have valid image
GCSViews.FlightData.myhud.streamjpgenable = true;
NetworkStream stream = client.GetStream();
// 3 seconds
stream.ReadTimeout = 3000;
again:
var asciiEncoding = new ASCIIEncoding();
var request = new byte[1024];
int len = stream.Read(request, 0, request.Length);
string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
log.Info(head);
int index = head.IndexOf('\n');
string url = head.Substring(0, index - 1);
//url = url.Replace("\r", "");
//url = url.Replace("GET ","");
//url = url.Replace(" HTTP/1.0", "");
//url = url.Replace(" HTTP/1.1", "");
Tracking.AddEvent("HTTPServer", "Get", url, "");
/////////////////////////////////////////////////////////////////
if (url.Contains("websocket"))
{
using (var writer = new StreamWriter(stream, Encoding.Default))
{
writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
writer.WriteLine("Upgrade: WebSocket");
writer.WriteLine("Connection: Upgrade");
writer.WriteLine("WebSocket-Location: ws://localhost:56781/websocket/server");
int start = head.IndexOf("Sec-WebSocket-Key:") + 19;
int end = head.IndexOf('\r', start);
if (end == -1)
{
end = head.IndexOf('\n', start);
}
string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));
writer.WriteLine("Sec-WebSocket-Accept: " + accept);
writer.WriteLine("Server: APM Planner");
writer.WriteLine("");
writer.Flush();
while (client.Connected)
{
Thread.Sleep(200);
log.Debug(stream.DataAvailable + " " + client.Available);
while (client.Available > 0)
{
Console.Write(stream.ReadByte());
}
byte[] packet = new byte[256];
string sendme = MainV2.comPort.MAV.cs.roll + "," + MainV2.comPort.MAV.cs.pitch + "," + MainV2.comPort.MAV.cs.yaw;
packet[0] = 0x81; // fin - binary
packet[1] = (byte)sendme.Length;
int i = 2;
foreach (char ch in sendme)
{
packet[i++] = (byte)ch;
}
stream.Write(packet, 0, i);
//break;
}
}
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("georefnetwork.kml"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " + georefkml.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
byte[] buffer = Encoding.ASCII.GetBytes(georefkml);
stream.Write(buffer, 0, buffer.Length);
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("network.kml"))
{
SharpKml.Dom.Document kml = new SharpKml.Dom.Document();
SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
pmplane.Name = "P/Q " + MainV2.comPort.MAV.cs.altasl;
pmplane.Visibility = true;
SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
loc.Latitude = MainV2.comPort.MAV.cs.lat;
loc.Longitude = MainV2.comPort.MAV.cs.lng;
loc.Altitude = MainV2.comPort.MAV.cs.altasl;
if (loc.Altitude < 0)
{
loc.Altitude = 0.01;
}
SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
ori.Heading = MainV2.comPort.MAV.cs.yaw;
ori.Roll = -MainV2.comPort.MAV.cs.roll;
ori.Tilt = -MainV2.comPort.MAV.cs.pitch;
SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
sca.X = 2;
sca.Y = 2;
sca.Z = 2;
SharpKml.Dom.Model model = new SharpKml.Dom.Model();
model.Location = loc;
model.Orientation = ori;
model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
model.Scale = sca;
SharpKml.Dom.Link link = new SharpKml.Dom.Link();
link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
model.Link = link;
pmplane.Geometry = model;
SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
{
Altitude = loc.Altitude.Value,
Latitude = loc.Latitude.Value,
Longitude = loc.Longitude.Value,
Tilt = 80,
Heading = MainV2.comPort.MAV.cs.yaw,
AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
Range = 50
};
if (loc.Latitude.Value != 0 && loc.Longitude.Value != 0)
{
kml.Viewpoint = la;
kml.AddFeature(pmplane);
}
SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();
//if (loc.Latitude.Value != 0 && loc.Longitude.Value != 0)
{
//foreach (var point in MainV2.comPort.MAV.wps.Values)
{
// coords.Add(new SharpKml.Base.Vector(point.x, point.y, point.z));
}
}
//else
{
PointLatLngAlt home = null;
// draw track
try
{
foreach (var point in GCSViews.FlightPlanner.instance.fullpointlist)
{
if (point.Tag.ToLower().Contains("home"))
{
home = point;
}
if (point != null)
{
coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));
}
}
}
catch { }
foreach (var point in GCSViews.FlightPlanner.instance.fullpointlist)
{
if (point == null)
{
continue;
}
SharpKml.Dom.Placemark wp = new SharpKml.Dom.Placemark();
wp.Name = "WP " + point.Tag + " Alt: " + point.Alt;
SharpKml.Dom.Point wppoint = new SharpKml.Dom.Point();
var altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
wppoint.AltitudeMode = altmode;
wppoint.Coordinate = new Vector()
{
Latitude = point.Lat, Longitude = point.Lng, Altitude = point.Alt
};
wp.Geometry = wppoint;
kml.AddFeature(wp);
}
}
SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
ls.AltitudeMode = SharpKml.Dom.AltitudeMode.RelativeToGround;
ls.Coordinates = coords;
ls.Extrude = false;
ls.Tessellate = true;
Style style = new Style();
style.Id = "yellowLineGreenPoly";
style.Line = new LineStyle(new Color32(HexStringToColor("ff00ffff")), 4);
Style style2 = new Style();
style2.Id = "yellowLineGreenPoly";
style2.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);
// above ground
SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark()
{
Geometry = ls, Name = "WPs", StyleSelector = style
};
kml.AddFeature(pm);
// on ground
SharpKml.Dom.LineString ls2 = new SharpKml.Dom.LineString();
ls2.Coordinates = coords;
ls2.Extrude = false;
ls2.Tessellate = true;
ls2.AltitudeMode = SharpKml.Dom.AltitudeMode.ClampToGround;
SharpKml.Dom.Placemark pm2 = new SharpKml.Dom.Placemark()
{
Geometry = ls2, Name = "onground", StyleSelector = style2
};
kml.AddFeature(pm2);
SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
serializer.Serialize(kml);
byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);
string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\r\nContent-Length: " + buffer.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(buffer, 0, buffer.Length);
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("block_plane_0.dae"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
BinaryReader file = new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read, FileShare.Read));
byte[] buffer = new byte[1024];
while (file.PeekChar() != -1)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
file.Close();
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("hud.html"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
BinaryReader file = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
byte[] buffer = new byte[1024];
while (file.PeekChar() != -1)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
file.Close();
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") || url.ToLower().Contains("both.jpg"))
{
refreshmap();
string header = "HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=APMPLANNER\r\n\r\n--APMPLANNER\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
while (client.Connected)
{
System.Threading.Thread.Sleep(200); // 5hz
byte[] data = null;
if (url.ToLower().Contains("hud"))
{
GCSViews.FlightData.myhud.streamjpgenable = true;
data = GCSViews.FlightData.myhud.streamjpg.ToArray();
}
else if (url.ToLower().Contains("map"))
{
data = GetControlJpegRaw(GCSViews.FlightData.mymap);
}
else
{
GCSViews.FlightData.myhud.streamjpgenable = true;
Image img1 = Image.FromStream(GCSViews.FlightData.myhud.streamjpg);
Image img2 = GetControlJpeg(GCSViews.FlightData.mymap);
int bigger = img1.Height > img2.Height ? img1.Height : img2.Height;
Image imgout = new Bitmap(img1.Width + img2.Width, bigger);
Graphics grap = Graphics.FromImage(imgout);
grap.DrawImageUnscaled(img1, 0, 0);
grap.DrawImageUnscaled(img2, img1.Width, 0);
MemoryStream streamjpg = new MemoryStream();
imgout.Save(streamjpg, System.Drawing.Imaging.ImageFormat.Jpeg);
data = streamjpg.ToArray();
}
header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n";
temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(data, 0, data.Length);
header = "\r\n--APMPLANNER\r\n";
temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
GCSViews.FlightData.myhud.streamjpgenable = false;
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.Contains("/guided?"))
{
//http://127.0.0.1:56781/guided?lat=-34&lng=117.8&alt=30
Regex rex = new Regex(@"lat=([\-\.0-9]+)&lng=([\-\.0-9]+)&alt=([\.0-9]+)", RegexOptions.IgnoreCase);
Match match = rex.Match(url);
if (match.Success)
{
Locationwp gwp = new Locationwp()
{
lat = double.Parse(match.Groups[1].Value),
lng = double.Parse(match.Groups[2].Value),
alt = float.Parse(match.Groups[3].Value)
};
try
{
MainV2.comPort.setGuidedModeWP(gwp);
}
catch { }
string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
else
{
string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains(".jpg"))
{
Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);
Match match = rex.Match(url);
if (match.Success)
{
string fileurl = match.Groups[2].Value;
using (Image orig = Image.FromFile(georefimagepath + fileurl))
using (Image resi = ResizeImage(orig, new Size(640, 480)))
using (MemoryStream memstream = new MemoryStream())
{
resi.Save(memstream, System.Drawing.Imaging.ImageFormat.Jpeg);
memstream.Position = 0;
string header = "HTTP/1.1 200 OK\r\nContent-Type: image/jpg\r\nContent-Length: " + memstream.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
using (BinaryReader file = new BinaryReader(memstream))
{
byte[] buffer = new byte[1024];
while (file.BaseStream.Position < file.BaseStream.Length)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
}
}
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("post /guide"))
{
Regex rex = new Regex(@"lat"":([\-\.0-9]+),""lon"":([\-\.0-9]+),""alt"":([\.0-9]+)", RegexOptions.IgnoreCase);
Match match = rex.Match(head);
if (match.Success)
{
Locationwp gwp = new Locationwp()
{
lat = double.Parse(match.Groups[1].Value),
lng = double.Parse(match.Groups[2].Value),
alt = float.Parse(match.Groups[3].Value)
};
try
{
MainV2.comPort.setGuidedModeWP(gwp);
}
catch { }
string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
else
{
string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/command_long"))
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/rcoverride"))
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/get_mission"))
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/mavlink/"))
{
/*
* GET /mavlink/ATTITUDE+VFR_HUD+NAV_CONTROLLER_OUTPUT+META_WAYPOINT+GPS_RAW_INT+HEARTBEAT+META_LINKQUALITY+GPS_STATUS+STATUSTEXT+SYS_STATUS?_=1355828718540 HTTP/1.1
* Host: ubuntu:9999
* Connection: keep-alive
* X-Requested-With: XMLHttpRequest
* User-Agent: Mozilla/5.0 (Windows NT 6.1; WOW64) AppleWebKit/537.11 (KHTML, like Gecko) Chrome/23.0.1271.97 Safari/537.11
* Accept:
* Referer: http://ubuntu:9999/index.html
* Accept-Encoding: gzip,deflate,sdch
* Accept-Language: en-GB,en-US;q=0.8,en;q=0.6
* Accept-Charset: ISO-8859-1,utf-8;q=0.7,*;q=0.3
*
* HTTP/1.1 200 OK
* Content-Type: application/json
* Content-Length: 2121
* Date: Thu, 29 Nov 2012 12:13:38 GMT
* Server: ubuntu
*
* {
* "VFR_HUD": {"msg": {"throttle": 0, "groundspeed": 0.0, "airspeed": 0.0, "climb": 0.0, "mavpackettype": "VFR_HUD", "alt": -0.47999998927116394, "heading": 108}, "index": 687, "time_usec": 0},
* "STATUSTEXT": {"msg": {"mavpackettype": "STATUSTEXT", "severity": 1, "text": "Initialising APM..."}, "index": 2, "time_usec": 0},
* "SYS_STATUS": {"msg": {"onboard_control_sensors_present": 4294966287, "load": 0, "battery_remaining": -1, "errors_count4": 0, "drop_rate_comm": 0, "errors_count2": 0, "errors_count3": 0, "errors_comm": 0, "current_battery": -1, "errors_count1": 0, "onboard_control_sensors_health": 4294966287, "mavpackettype": "SYS_STATUS", "onboard_control_sensors_enabled": 4294945807, "voltage_battery": 10080}, "index": 693, "time_usec": 0},
* "META_LINKQUALITY": {"msg": {"master_in": 11110, "mav_loss": 0, "mavpackettype": "META_LINKQUALITY", "master_out": 194, "packet_loss": 0.0}, "index": 194, "time_usec": 0},
* "ATTITUDE": {"msg": {"pitchspeed": -0.000976863200776279, "yaw": 1.8878594636917114, "rollspeed": -0.0030046366155147552, "time_boot_ms": 194676, "pitch": -0.09986469894647598, "mavpackettype": "ATTITUDE", "yawspeed": -0.0015030358918011189, "roll": -0.029391441494226456}, "index": 687, "time_usec": 0},
* "GPS_RAW_INT": {"msg": {"fix_type": 1, "cog": 0, "epv": 65535, "lon": 0, "time_usec": 0, "eph": 9999, "satellites_visible": 0, "lat": 0, "mavpackettype": "GPS_RAW_INT", "alt": 137000, "vel": 0}, "index": 687, "time_usec": 0},
* "HEARTBEAT": {"msg": {"custom_mode": 0, "system_status": 4, "base_mode": 81, "autopilot": 3, "mavpackettype": "HEARTBEAT", "type": 2, "mavlink_version": 3}, "index": 190, "time_usec": 0},
* "GPS_STATUS": {"msg": {"satellite_snr": "", "satellite_azimuth": "", "satellite_prn": "", "satellite_elevation": "", "satellites_visible": 0, "satellite_used": "", "mavpackettype": "GPS_STATUS"}, "index": 2, "time_usec": 0},
* "NAV_CONTROLLER_OUTPUT": {"msg": {"wp_dist": 0, "nav_pitch": 0.0, "target_bearing": 0, "nav_roll": 0.0, "aspd_error": 0.0, "alt_error": 0.0, "mavpackettype": "NAV_CONTROLLER_OUTPUT", "xtrack_error": 0.0, "nav_bearing": 0}, "index": 687, "time_usec": 0}}
*/
JavaScriptSerializer serializer = new JavaScriptSerializer();
object[] data = new object[20];
Messagejson message = new Messagejson();
if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE] != null)
{
message.ATTITUDE = new Message2()
{
index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.ATTITUDE].ByteArrayToStructure <MAVLink.mavlink_attitude_t>(6)
}
}
;
if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD] != null)
{
message.VFR_HUD = new Message2()
{
index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.VFR_HUD].ByteArrayToStructure <MAVLink.mavlink_vfr_hud_t>(6)
}
}
;
if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT] != null)
{
message.NAV_CONTROLLER_OUTPUT = new Message2()
{
index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.NAV_CONTROLLER_OUTPUT].ByteArrayToStructure <MAVLink.mavlink_nav_controller_output_t>(6)
}
}
;
if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT] != null)
{
message.GPS_RAW_INT = new Message2()
{
index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.GPS_RAW_INT].ByteArrayToStructure <MAVLink.mavlink_gps_raw_int_t>(6)
}
}
;
if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT] != null)
{
message.HEARTBEAT = new Message2()
{
index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.HEARTBEAT].ByteArrayToStructure <MAVLink.mavlink_heartbeat_t>(6)
}
}
;
if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS] != null)
{
message.GPS_STATUS = new Message2()
{
index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.GPS_STATUS].ByteArrayToStructure <MAVLink.mavlink_gps_status_t>(6)
}
}
;
if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT] != null)
{
message.STATUSTEXT = new Message2()
{
index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT].ByteArrayToStructure <MAVLink.mavlink_statustext_t>(6)
}
}
;
if (MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS] != null)
{
message.SYS_STATUS = new Message2()
{
index = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS], msg = MainV2.comPort.MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.SYS_STATUS].ByteArrayToStructure <MAVLink.mavlink_sys_status_t>(6)
}
}
;
message.META_LINKQUALITY = message.SYS_STATUS = new Message2()
{
index = packetindex, time_usec = 0, msg = new META_LINKQUALITY()
{
master_in = (int)MainV2.comPort.packetsnotlost, mavpackettype = "META_LINKQUALITY", master_out = MainV2.comPort.packetcount, packet_loss = 100 - MainV2.comPort.MAV.cs.linkqualitygcs, mav_loss = 0
}
};
packetindex++;
string output = serializer.Serialize(message);
string header = "HTTP/1.1 200 OK\r\nContent-Type: application/json\r\nContent-Length: " + output.Length + "\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
temp = asciiEncoding.GetBytes(output);
stream.Write(temp, 0, temp.Length);
goto again;
//stream.Close();
}
/////////////////////////////////////////////////////////////////
else if (url.ToLower().Contains("/mav/"))
{
//C:\Users\hog\Desktop\DIYDrones\mavelous\modules\lib\mavelous_web
Regex rex = new Regex(@"([^\s]+)\s(.+)\sHTTP/1", RegexOptions.IgnoreCase);
Match match = rex.Match(url);
if (match.Success)
{
string fileurl = match.Groups[2].Value;
fileurl = fileurl.Replace("/mav/", "");
if (fileurl == "" || fileurl == "/")
{
fileurl = "index.html";
}
string header = "HTTP/1.1 200 OK\r\n";
if (fileurl.Contains(".html"))
{
header += "Content-Type: text/html\r\n\r\n";
}
else if (fileurl.Contains(".js"))
{
header += "Content-Type: application/x-javascript\r\n\r\n";
}
else if (fileurl.Contains(".css"))
{
header += "Content-Type: text/css\r\n\r\n";
}
else
{
header += "Content-Type: text/plain\r\n\r\n";
}
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
BinaryReader file = new BinaryReader(File.Open(mavelous_web + fileurl, FileMode.Open, FileAccess.Read, FileShare.Read));
byte[] buffer = new byte[1024];
while (file.BaseStream.Position < file.BaseStream.Length)
{
int leng = file.Read(buffer, 0, buffer.Length);
stream.Write(buffer, 0, leng);
}
file.Close();
stream.Close();
}
/////////////////////////////////////////////////////////////////
else
{
string header = "HTTP/1.1 404 not found\r\nContent-Type: image/jpg\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Close();
}
}
/////////////////////////////////////////////////////////////////
else
{
Console.WriteLine(url);
string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n";
byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
string content = @"
<a href=/mav/>Mavelous</a>
<a href=/mavlink/>Mavelous traffic</a>
<a href=/hud.jpg>Hud image</a>
<a href=/map.jpg>Map image </a>
<a href=/both.jpg>Map & hud image</a>
<a href=/hud.html>hud html5</a>
<a href=/network.kml>network kml</a>
";
temp = asciiEncoding.GetBytes(content);
stream.Write(temp, 0, temp.Length);
}
stream.Close();
}
catch (Exception ee)
{
log.Error("Failed http ", ee);
}
}
}
private void writeKML(string filename)
{
SharpKml.Dom.AltitudeMode altmode = SharpKml.Dom.AltitudeMode.Absolute;
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
altmode = SharpKml.Dom.AltitudeMode.Absolute;
}
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
}
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() { 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);
Style stylet = new Style();
stylet.Id = "track";
SharpKml.Dom.IconStyle ico = new SharpKml.Dom.IconStyle();
LabelStyle lst = new LabelStyle();
lst.Scale = 0;
stylet.Icon = ico;
ico.Icon = new IconStyle.IconLink(new Uri("http://earth.google.com/images/kml-icons/track-directional/track-none.png"));
stylet.Icon.Scale = 0.5;
stylet.Label = lst;
kml.AddStyle(stylet);
// create sub folders
Folder planes = new Folder();
planes.Name = "Planes";
kml.AddFeature(planes);
Folder points = new Folder();
points.Name = "Points";
kml.AddFeature(points);
// 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 = altmode;
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;
SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
cam.AltitudeMode = altmode;
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 = "Point " + 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;
if (loc.Altitude < 0)
loc.Altitude = 0.01;
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 = altmode;
model.Scale = sca;
try
{
Description desc = new Description();
desc.Text = @"<![CDATA[
<table>
<tr><td>Roll: " + model.Orientation.Roll.Value.ToString("0.00") + @" </td></tr>
<tr><td>Pitch: " + model.Orientation.Tilt.Value.ToString("0.00") + @" </td></tr>
<tr><td>Yaw: " + model.Orientation.Heading.Value.ToString("0.00") + @" </td></tr>
<tr><td>Time: " + cs.datetime.ToString("HH:mm:sszzzzzz") + @" </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);
///
Placemark pmt = new Placemark();
SharpKml.Dom.Point pnt = new SharpKml.Dom.Point();
pnt.AltitudeMode = altmode;
pnt.Coordinate = new Vector(cs.lat,cs.lng,cs.alt);
pmt.Name = "" + a;
pmt.Description = pmplane.Description;
pmt.Time = tstamp;
pmt.Geometry = pnt;
pmt.StyleUrl = new Uri("#track", UriKind.Relative);
points.AddFeature(pmt);
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(Path.GetExtension(filename), ".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.Open(filename,FileMode.Open,FileAccess.Read,FileShare.ReadWrite))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
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();
}
