private void writeKML(string filename)
{
Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };
Document kml = new Document();
Tour tour = new Tour();
tour.Name = "First Person View";
Playlist tourplaylist = new Playlist();
AddNamespace(kml, "gx", "http://www.google.com/kml/ext/2.2");
Style style = new Style();
style.Id = "yellowLineGreenPoly";
style.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);
PolygonStyle pstyle = new PolygonStyle();
pstyle.Color = new Color32(HexStringToColor("7f00ff00"));
style.Polygon = pstyle;
kml.AddStyle(style);
// create sub folders
Folder planes = new Folder();
planes.Name = "Planes";
kml.AddFeature(planes);
// coords for line string
CoordinateCollection coords = new CoordinateCollection();
int a = 1;
int c = -1;
DateTime lasttime = DateTime.MaxValue;
DateTime starttime = DateTime.MinValue;
Color stylecolor = Color.AliceBlue;
string mode = "";
if (flightdata.Count > 0)
{
mode = flightdata[0].mode;
}
foreach (CurrentState cs in flightdata)
{
progressBar1.Value = 50 + (int)((float)a / (float)flightdata.Count * 100.0f / 2.0f);
progressBar1.Refresh();
if (starttime == DateTime.MinValue)
{
starttime = cs.datetime;
lasttime = cs.datetime;
}
if (mode != cs.mode || flightdata.Count == a)
{
c++;
LineString ls = new LineString();
ls.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
ls.Extrude = true;
ls.Coordinates = coords;
Placemark pm = new Placemark();
pm.Name = c + " Flight Path " + mode;
pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
pm.Geometry = ls;
SharpKml.Dom.TimeSpan ts = new SharpKml.Dom.TimeSpan();
ts.Begin = starttime;
ts.End = cs.datetime;
pm.Time = ts;
// setup for next line
mode = cs.mode;
starttime = cs.datetime;
stylecolor = colours[c % (colours.Length - 1)];
Style style2 = new Style();
style2.Line = new LineStyle(new Color32(stylecolor), 4);
pm.StyleSelector = style2;
kml.AddFeature(pm);
coords = new CoordinateCollection();
}
coords.Add(new Vector(cs.lat, cs.lng, cs.alt));
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = cs.datetime;
FlyTo flyto = new FlyTo();
flyto.Duration = (cs.datetime - lasttime).TotalMilliseconds / 1000.0;
flyto.Mode = FlyToMode.Smooth;
SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
cam.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
cam.Latitude = cs.lat;
cam.Longitude = cs.lng;
cam.Altitude = cs.alt;
cam.Heading = cs.yaw;
cam.Roll = -cs.roll;
cam.Tilt = (90 - (cs.pitch * -1));
cam.GXTimePrimitive = tstamp;
flyto.View = cam;
//if (Math.Abs(flyto.Duration.Value) > 0.1)
{
tourplaylist.AddTourPrimitive(flyto);
lasttime = cs.datetime;
}
Placemark pmplane = new Placemark();
pmplane.Name = "Plane " + a;
pmplane.Time = tstamp;
pmplane.Visibility = false;
SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
loc.Latitude = cs.lat;
loc.Longitude = cs.lng;
loc.Altitude = cs.alt;
SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
ori.Heading = cs.yaw;
ori.Roll = -cs.roll;
ori.Tilt = -cs.pitch;
SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
sca.X = 2;
sca.Y = 2;
sca.Z = 2;
Model model = new Model();
model.Location = loc;
model.Orientation = ori;
model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
model.Scale = sca;
try
{
Description desc = new Description();
desc.Text = @"<![CDATA[
<table>
<tr><td>Roll: " + model.Orientation.Roll + @" </td></tr>
<tr><td>Pitch: " + model.Orientation.Tilt + @" </td></tr>
<tr><td>Yaw: " + model.Orientation.Heading + @" </td></tr>
</table>
]]>";
pmplane.Description = desc;
}
catch { }
Link link = new Link();
link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
model.Link = link;
pmplane.Geometry = model;
planes.AddFeature(pmplane);
a++;
}
tour.Playlist = tourplaylist;
kml.AddFeature(tour);
Serializer serializer = new Serializer();
serializer.Serialize(kml);
//Console.WriteLine(serializer.Xml);
StreamWriter sw = new StreamWriter(filename);
sw.Write(serializer.Xml);
sw.Close();
// create kmz - aka zip file
FileStream fs = File.Open(filename.Replace(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();
File.Delete(filename);
flightdata.Clear();
}
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();
}
