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;
}
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();
}
public void TestAttributes()
{
// Try the attributes first
TestElement element = new TestElement();
element.Attribute = "attribute";
element.EnumAtt = ColorMode.Random;
Serializer serializer = new Serializer();
serializer.Serialize(element);
Assert.True(FindNode(serializer.Xml, "TestElementS", r =>
{
Assert.That(r.GetAttribute("Attribute"), Is.EqualTo("attribute"));
Assert.That(r.GetAttribute("EnumAtt"), Is.EqualTo("random"));
}));
// Try optional elements = make sure they're only serialized if they have a value
element.Int = 42;
serializer.Serialize(element);
Assert.True(FindNode(serializer.Xml, "Int", r =>
Assert.That(r.ReadElementContentAsInt(), Is.EqualTo(42))));
Assert.False(FindNode(serializer.Xml, "OptionalInt", null));
element.OptionalInt = 0;
serializer.Serialize(element);
Assert.True(FindNode(serializer.Xml, "OptionalInt", r =>
Assert.That(r.ReadElementContentAsInt(), Is.EqualTo(0))));
}
public static void CompareElements(Element expected, Element actual)
{
// To compare the Elements we're going to serialize them both
// and compare the generated Xml.
Serializer serializer = new Serializer();
serializer.Serialize(expected);
string expectedXml = serializer.Xml;
serializer.Serialize(actual);
Assert.That(serializer.Xml, Is.EqualTo(expectedXml));
}
public void SerializeShouldCheckForNullArguments()
{
var serializer = new Serializer();
Assert.That(() => serializer.Serialize(null),
Throws.InstanceOf<ArgumentNullException>());
Assert.That(() => serializer.Serialize(null, new MemoryStream()),
Throws.InstanceOf<ArgumentNullException>());
Assert.That(() => serializer.Serialize(new Kml(), null),
Throws.InstanceOf<ArgumentNullException>());
}
public static void Run()
{
KmlFile file = Program.OpenFile("Enter a file to show the styles of:");
if (file == null)
{
return;
}
Console.WriteLine("Style names:");
// We're going to extend the first style later
StyleSelector firstStyle = null;
foreach (var style in file.Styles.OrderBy(s => s.Id)) // Use the Linq extension to order them by Id
{
if (firstStyle == null)
{
firstStyle = style;
}
Console.WriteLine(style.Id);
}
// If there was a style display it's Xml
if (firstStyle != null)
{
Console.WriteLine("\nExpanding '{0}':", firstStyle.Id);
Serializer serializer = new Serializer();
serializer.Serialize(firstStyle);
Console.WriteLine(serializer.Xml);
}
}
public static void Run()
{
Console.WriteLine("Creating a point at 37.42052549 latitude and -122.0816695 longitude.\n");
// This will be used for the placemark
Point point = new Point();
point.Coordinate = new Vector(37.42052549, -122.0816695);
Placemark placemark = new Placemark();
placemark.Name = "Cool Statue";
placemark.Geometry = point;
// This is the root element of the file
Kml kml = new Kml();
kml.Feature = placemark;
Serializer serializer = new Serializer();
serializer.Serialize(kml);
Console.WriteLine(serializer.Xml);
Console.WriteLine("\nReading Xml...");
Parser parser = new Parser();
parser.ParseString(serializer.Xml, true);
kml = (Kml)parser.Root;
placemark = (Placemark)kml.Feature;
point = (Point)placemark.Geometry;
Console.WriteLine("Latitude:{0} Longitude:{1}", point.Coordinate.Latitude, point.Coordinate.Longitude);
}
public static void Run()
{
// Create the style first
var style = new Style();
style.Id = "randomColorIcon";
style.Icon = new IconStyle();
style.Icon.Color = new Color32(255, 0, 255, 0);
style.Icon.ColorMode = ColorMode.Random;
style.Icon.Icon = new IconStyle.IconLink(new Uri("http://maps.google.com/mapfiles/kml/pal3/icon21.png"));
style.Icon.Scale = 1.1;
// Now create the object to apply the style to
var placemark = new Placemark();
placemark.Name = "IconStyle.kml";
placemark.StyleUrl = new Uri("#randomColorIcon", UriKind.Relative);
placemark.Geometry = new Point
{
Coordinate = new Vector(37.831145, -122.36868)
};
// Package it all together...
var document = new Document();
document.AddFeature(placemark);
document.AddStyle(style);
// And display the result
var serializer = new Serializer();
serializer.Serialize(document);
Console.WriteLine(serializer.Xml);
}
public static void Run()
{
// Create our Kml
var folder = new Folder();
folder.Id = "f0";
folder.Name = "Folder 0";
var placemark = new Placemark();
placemark.Id = "pm0";
placemark.Name = "Placemark 0";
folder.AddFeature(placemark);
placemark = new Placemark();
placemark.Id = "pm1";
placemark.Name = "Placemark 1";
folder.AddFeature(placemark);
var kml = new Kml();
kml.Feature = folder;
// Display to the user
var serializer = new Serializer();
serializer.Serialize(kml);
Console.WriteLine("Original Kml:\n" + serializer.Xml);
// This is what we're going to change to
placemark = new Placemark();
placemark.Geometry = new Point { Coordinate = new Vector(38, -120) };
placemark.Name = "new name";
placemark.TargetId = "pm0";
var update = new Update();
update.AddUpdate(new ChangeCollection() { placemark });
serializer.Serialize(update);
Console.WriteLine("\nUpdate:\n" + serializer.Xml);
// Run the update
var file = KmlFile.Create(kml, false);
update.Process(file);
serializer.Serialize(kml);
Console.WriteLine("\nUpdated Kml:\n" + serializer.Xml);
}
public void TestChild()
{
TestElement element = new TestElement();
element.Child = new ChildElement();
element.Child.Counter = 1;
Serializer serializer = new Serializer();
serializer.Serialize(element);
Assert.True(FindNode(serializer.Xml, "counter", r =>
Assert.That(r.ReadElementContentAsInt(), Is.EqualTo(1))));
}
public static void Run()
{
KmlFile file = Program.OpenFile("Enter a file to inline the styles:");
if (file == null)
{
return;
}
var inlined = StyleResolver.InlineStyles(file.Root);
var serializer = new Serializer();
serializer.Serialize(inlined);
Console.WriteLine(serializer.Xml);
}
/// <summary>
/// Gerador de Kml
/// </summary>
/// <param name="pLinhaDados"></param>
/// <param name="pTipoDados"></param>
/// <param name="pNome"></param>
/// <param name="pNumOcorrencia"></param>
public void GerarKml(string pLinhaDados, eTipoDadoGeografico pTipoDados, string pNome, int pNumOcorrencia)
{
Placemark placemark = new Placemark();
placemark.Name = pNome;
string sCor = "";
if (pNumOcorrencia >= 20)
sCor = "ff0000ff";
else if (pNumOcorrencia >= 10)
sCor = "ff8080ff";
else if (pNumOcorrencia >= 5)
sCor = "ffc0c0ff";
else if (pNumOcorrencia >= 0)
sCor = "ffffffff";
StringBuilder sbStilo = new StringBuilder();
sbStilo.AppendLine("<color>");
sbStilo.AppendLine(sCor);
sbStilo.AppendLine("</color>");
string sXml = "";
// This is the root element of the file
Kml kml = new Kml();
kml.Feature = placemark;
Serializer serializer = new Serializer();
serializer.Serialize(kml);
int iIndiceStilo = serializer.Xml.LastIndexOf("<Placemark>") + 11;
sXml = serializer.Xml.Insert(iIndiceStilo, sbStilo.ToString());
int iIndiceInicial = sXml.LastIndexOf("</name>") + 8;
sXml = sXml.Insert(iIndiceInicial, pLinhaDados);
string caminho = @"C:\Users\" + Environment.UserName + @"\Desktop\ArquivoKml" + DateTime.Now.ToString().Replace("/", "-").Replace(":", ".") + ".kml";
StreamWriter arquivo = new StreamWriter(caminho);
arquivo.WriteLine(sXml);
arquivo.Close();
//MessageBox.Show("Arquivo Gravado em " + caminho + " com sucesso");
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
photocoords = new Hashtable();
timecoordcache = new Hashtable();
imagetotime = new Hashtable();
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
TXT_outputlog.AppendText("Read Log\n");
List<string[]> list = readLog(logFile);
TXT_outputlog.AppendText("Log Read\n");
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages);
TXT_outputlog.AppendText("images read\n");
Document kml = new Document();
using (StreamWriter swlogloccsv = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv"))
using (StreamWriter swlockml = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml"))
using (StreamWriter swloctxt = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt"))
using (StreamWriter swloctel = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel"))
{
swloctel.WriteLine("version=1");
swloctel.WriteLine("#seconds offset - " + TXT_offsetseconds.Text);
swloctel.WriteLine("#longitude and latitude - in degrees");
swloctel.WriteLine("#name utc longitude latitude height");
swloctxt.WriteLine("#name longitude/X latitude/Y height/Z yaw pitch roll");
swloctxt.WriteLine("#seconds_offset: " + TXT_offsetseconds.Text);
int first = 0;
int matchs = 0;
int lastmatchindex = 0;
TXT_outputlog.AppendText("start Processing\n");
foreach (string filename in files)
{
if (filename.ToLower().EndsWith(".jpg") && !filename.ToLower().Contains("_geotag"))
{
DateTime photodt = getPhotoTime(filename);
// get log min and max time
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(photodt.Year, photodt.Month, photodt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (localmin > crap)
localmin = crap;
if (localmax < crap)
localmax = crap;
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " time " + photodt + "\r\n");
//Application.DoEvents();
int a = 0;
foreach (string[] arr in list)
{
a++;
if (lastmatchindex > (a))
continue;
if (a % 1000 == 0)
Application.DoEvents();
DateTime logdt = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + " vs Log " + logdt + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (photodt - logdt).TotalSeconds + "\r\n");
if (dooffset)
{
swlockml.Close();
swloctel.Close();
swloctxt.Close();
swlogloccsv.Close();
return;
}
first++;
}
// time has past, logs are in time order
if (photodt < logdt.AddSeconds(-1))
{
lastmatchindex = a;
break;
}
//Console.Write("ph " + dt + " log " + crap + " \r");
timecoordcache[(long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds] = new double[] {
double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos])
};
swlogloccsv.WriteLine("ph " + filename + " " + photodt + " log " + logdt);
if (photodt.ToString("yyyy-MM-ddTHH:mm:ss") == logdt.ToString("yyyy-MM-ddTHH:mm:ss"))
{
lastmatchindex = a;
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + "\r\n");
matchs++;
// int fixme;
// if (matchs > 50)
// break; ;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = photodt;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Name = Path.GetFileNameWithoutExtension(filename),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + Path.GetFileName(filename).ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle() { Text = "$[name]<br>$[description]" }
}
}
);
double lat = double.Parse(arr[latpos]);
double lng = double.Parse(arr[lngpos]);
double alpha = 0;
if (arr.Length > yawATT)
{
alpha = ((double.Parse(arr[yawATT]) / 100.0) + 180) + (double)num_camerarotation.Value;
}
else
{
alpha = double.Parse(arr[cogpos]) + (double)num_camerarotation.Value;
}
RectangleF rect = getboundingbox(lat, lng, alpha, (double)num_hfov.Value, (double)num_vfov.Value);
Console.WriteLine(rect);
//http://en.wikipedia.org/wiki/World_file
/* using (StreamWriter swjpw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".jgw"))
{
swjpw.WriteLine((rect.Height / 2448.0).ToString("0.00000000000000000"));
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((rect.Width / -3264.0).ToString("0.00000000000000000")); // distance per pixel
swjpw.WriteLine((rect.Left).ToString("0.00000000000000000"));
swjpw.WriteLine((rect.Top).ToString("0.00000000000000000"));
swjpw.Close();
}*/
kml.AddFeature(
new GroundOverlay()
{
Name = Path.GetFileNameWithoutExtension(filename),
Visibility = false,
Time = tstamp,
AltitudeMode = AltitudeMode.ClampToGround,
Bounds = new LatLonBox()
{
Rotation = -alpha % 360,
North = rect.Bottom,
East = rect.Right,
West = rect.Left,
South = rect.Top,
},
Icon = new SharpKml.Dom.Icon()
{
Href = new Uri(Path.GetFileName(filename).ToLower(), UriKind.Relative),
},
}
);
photocoords[filename] = new double[] { double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), double.Parse(arr[cogpos]) };
imagetotime[filename] = (long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds;
if (arr.Length > yawATT)
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " " + ((double.Parse(arr[yawATT]) / 100.0) + 180) % 360 + " " + ((double.Parse(arr[pitchATT]) / 100.0)) + " " + (-double.Parse(arr[rollATT]) / 100.0));
}
else
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
}
swloctel.WriteLine(Path.GetFileName(filename) + "\t" + logdt.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
swloctel.Flush();
swloctxt.Flush();
log.InfoFormat(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
swlockml.Write(serializer.Xml);
swlockml.Close();
Utilities.httpserver.georefkml = serializer.Xml;
Utilities.httpserver.georefimagepath = dirWithImages + Path.DirectorySeparatorChar;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx");
swlogloccsv.Close();
swloctxt.Close();
swloctel.Close();
TXT_outputlog.AppendText("Done " + matchs + " matchs");
}
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
timepos = (int)NUM_time.Value;
latpos = (int)NUM_latpos.Value;
lngpos = (int)NUM_lngpos.Value;
altpos = (int)NUM_altpos.Value;
cogpos = (int)NUM_headingpos.Value;
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
recordno = 10;
photostnrecord = new List<int>();
photocoords = new Hashtable();
timecoordcache = new Hashtable();
imagetotime = new Hashtable();
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
TXT_outputlog.AppendText("Read Log\n");
List<string[]> list = readLog(logFile);
TXT_outputlog.AppendText("Log Read\n");
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages);
TXT_outputlog.AppendText("images read\n");
Document kml = new Document();
using (StreamWriter swlogloccsv = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv"))
using (StreamWriter swlockml = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml"))
using (StreamWriter swloctxt = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt"))
using (StreamWriter swloctel = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel"))
using (XmlTextWriter swloctrim = new XmlTextWriter(dirWithImages + Path.DirectorySeparatorChar + "location.jxl",Encoding.ASCII))
{
swloctrim.Formatting = Formatting.Indented;
swloctrim.WriteStartDocument(false);
swloctrim.WriteStartElement("JOBFile");
swloctrim.WriteAttributeString("jobName", "MPGeoRef");
swloctrim.WriteAttributeString("product", "Gatewing");
swloctrim.WriteAttributeString("productVersion", "1.0");
swloctrim.WriteAttributeString("version", "5.6");
// enviro
swloctrim.WriteStartElement("Environment");
swloctrim.WriteStartElement("CoordinateSystem");
swloctrim.WriteElementString("SystemName", "Default");
swloctrim.WriteElementString("ZoneName", "Default");
swloctrim.WriteElementString("DatumName", "WGS 1984");
swloctrim.WriteStartElement("Ellipsoid");
swloctrim.WriteElementString("EarthRadius", "6378137");
swloctrim.WriteElementString("Flattening", "0.00335281067183");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("Projection");
swloctrim.WriteElementString("Type", "NoProjection");
swloctrim.WriteElementString("Scale", "1");
swloctrim.WriteElementString("GridOrientation", "IncreasingNorthEast");
swloctrim.WriteElementString("SouthAzimuth", "false");
swloctrim.WriteElementString("ApplySeaLevelCorrection", "true");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("LocalSite");
swloctrim.WriteElementString("Type", "Grid");
swloctrim.WriteElementString("ProjectLocationLatitude", "");
swloctrim.WriteElementString("ProjectLocationLongitude", "");
swloctrim.WriteElementString("ProjectLocationHeight", "");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("Datum");
swloctrim.WriteElementString("Type", "ThreeParameter");
swloctrim.WriteElementString("GridName", "WGS 1984");
swloctrim.WriteElementString("Direction", "WGS84ToLocal");
swloctrim.WriteElementString("EarthRadius", "6378137");
swloctrim.WriteElementString("Flattening", "0.00335281067183");
swloctrim.WriteElementString("TranslationX", "0");
swloctrim.WriteElementString("TranslationY", "0");
swloctrim.WriteElementString("TranslationZ", "0");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("HorizontalAdjustment");
swloctrim.WriteElementString("Type", "NoAdjustment");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("VerticalAdjustment");
swloctrim.WriteElementString("Type", "NoAdjustment");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("CombinedScaleFactor");
swloctrim.WriteStartElement("Location");
swloctrim.WriteElementString("Latitude", "");
swloctrim.WriteElementString("Longitude", "");
swloctrim.WriteElementString("Height", "");
swloctrim.WriteEndElement();
swloctrim.WriteElementString("Scale", "");
swloctrim.WriteEndElement();
swloctrim.WriteEndElement();
swloctrim.WriteEndElement();
// fieldbook
swloctrim.WriteStartElement("FieldBook");
swloctrim.WriteRaw(@" <CameraDesignRecord ID='00000001'>
<Type>GoPro </Type>
<HeightPixels>2400</HeightPixels>
<WidthPixels>3200</WidthPixels>
<PixelSize>0.0000022</PixelSize>
<LensModel>Rectilinear</LensModel>
<NominalFocalLength>0.002</NominalFocalLength>
</CameraDesignRecord>
<CameraRecord2 ID='00000002'>
<CameraDesignID>00000001</CameraDesignID>
<CameraPosition>01</CameraPosition>
<Optics>
<IdealAngularMagnification>1.0</IdealAngularMagnification>
<AngleSymmetricDistortion>
<Order3>-0.35</Order3>
<Order5>0.15</Order5>
<Order7>-0.033</Order7>
<Order9> 0</Order9>
</AngleSymmetricDistortion>
<AngleDecenteringDistortion>
<Column>0</Column>
<Row>0</Row>
</AngleDecenteringDistortion>
</Optics>
<Geometry>
<PerspectiveCenterPixels>
<PrincipalPointColumn>-1615.5</PrincipalPointColumn>
<PrincipalPointRow>-1187.5</PrincipalPointRow>
<PrincipalDistance>-2102</PrincipalDistance>
</PerspectiveCenterPixels>
<VectorOffset>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
</VectorOffset>
<BiVectorAngle>
<XX>0</XX>
<YY>0</YY>
<ZZ>-1.5707963268</ZZ>
</BiVectorAngle>
</Geometry>
</CameraRecord2>");
// 2mm fl
// res 2400 * 3200 = 7,680,000
// sensor size = 1/2.5" - 5.70 × 4.28 mm
// 2.2 μm
// fl in pixels = fl in mm * res / sensor size
swloctrim.WriteStartElement("PhotoInstrumentRecord");
swloctrim.WriteAttributeString("ID", "0000000E");
swloctrim.WriteElementString("Type", "Aerial");
swloctrim.WriteElementString("Model", "X100");
swloctrim.WriteElementString("Serial", "000-000");
swloctrim.WriteElementString("FirmwareVersion", "v0.0");
swloctrim.WriteElementString("UserDefinedName", "Prototype");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("AtmosphereRecord");
swloctrim.WriteAttributeString("ID", "0000000F");
swloctrim.WriteElementString("Pressure", "");
swloctrim.WriteElementString("Temperature", "");
swloctrim.WriteElementString("PPM", "");
swloctrim.WriteElementString("ApplyEarthCurvatureCorrection", "false");
swloctrim.WriteElementString("ApplyRefractionCorrection", "false");
swloctrim.WriteElementString("RefractionCoefficient", "0");
swloctrim.WriteElementString("PressureInputMethod", "ReadFromInstrument");
swloctrim.WriteEndElement();
swloctel.WriteLine("version=1");
swloctel.WriteLine("#seconds offset - " + TXT_offsetseconds.Text);
swloctel.WriteLine("#longitude and latitude - in degrees");
swloctel.WriteLine("#name utc longitude latitude height");
swloctxt.WriteLine("#name longitude/X latitude/Y height/Z yaw pitch roll");
swloctxt.WriteLine("#seconds_offset: " + TXT_offsetseconds.Text);
int first = 0;
int matchs = 0;
int lastmatchindex = 0;
TXT_outputlog.AppendText("start Processing\n");
foreach (string filename in files)
{
if (filename.ToLower().EndsWith(".jpg") && !filename.ToLower().Contains("_geotag"))
{
DateTime photodt = getPhotoTime(filename);
// get log min and max time
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(photodt.Year, photodt.Month, photodt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (localmin > crap)
localmin = crap;
if (localmax < crap)
localmax = crap;
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " time " + photodt + "\r\n");
//Application.DoEvents();
int a = 0;
foreach (string[] arr in list)
{
a++;
if (lastmatchindex > (a))
continue;
if (a % 1000 == 0)
Application.DoEvents();
DateTime logdt = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + " vs Log " + logdt + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (photodt - logdt).TotalSeconds + "\r\n");
if (dooffset)
{
return;
}
first++;
}
// time has past, logs are in time order
if (photodt < logdt.AddSeconds(-1))
{
lastmatchindex = a;
break;
}
//Console.Write("ph " + dt + " log " + crap + " \r");
timecoordcache[(long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds] = new double[] {
double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos])
};
swlogloccsv.WriteLine("ph " + filename + " " + photodt + " log " + logdt);
if (photodt.ToString("yyyy-MM-ddTHH:mm:ss") == logdt.ToString("yyyy-MM-ddTHH:mm:ss"))
{
lastmatchindex = a;
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + "\r\n");
matchs++;
// int fixme;
// if (matchs < 150 || matchs > 170)
// break; ;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = photodt;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Name = Path.GetFileNameWithoutExtension(filename),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + Path.GetFileName(filename).ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle() { Text = "$[name]<br>$[description]" }
}
}
);
double lat = double.Parse(arr[latpos]);
double lng = double.Parse(arr[lngpos]);
double alpha = 0;
if (arr.Length > yawATT)
{
alpha = ((double.Parse(arr[yawATT]) / 100.0) + 180) + (double)num_camerarotation.Value;
}
else
{
alpha = double.Parse(arr[cogpos]) + (double)num_camerarotation.Value;
}
RectangleF rect = getboundingbox(lat, lng, alpha, (double)num_hfov.Value, (double)num_vfov.Value);
Console.WriteLine(rect);
//http://en.wikipedia.org/wiki/World_file
/* using (StreamWriter swjpw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".jgw"))
{
swjpw.WriteLine((rect.Height / 2448.0).ToString("0.00000000000000000"));
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((rect.Width / -3264.0).ToString("0.00000000000000000")); // distance per pixel
swjpw.WriteLine((rect.Left).ToString("0.00000000000000000"));
swjpw.WriteLine((rect.Top).ToString("0.00000000000000000"));
swjpw.Close();
}*/
kml.AddFeature(
new GroundOverlay()
{
Name = Path.GetFileNameWithoutExtension(filename),
Visibility = false,
Time = tstamp,
AltitudeMode = AltitudeMode.ClampToGround,
Bounds = new LatLonBox()
{
Rotation = -alpha % 360,
North = rect.Bottom,
East = rect.Right,
West = rect.Left,
South = rect.Top,
},
Icon = new SharpKml.Dom.Icon()
{
Href = new Uri(Path.GetFileName(filename).ToLower(), UriKind.Relative),
},
}
);
photocoords[filename] = new double[] { double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), double.Parse(arr[cogpos]) };
imagetotime[filename] = (long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds;
if (arr.Length > yawATT)
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " " + ((double.Parse(arr[yawATT]) / 100.0) + 180) % 360 + " " + ((double.Parse(arr[pitchATT]) / 100.0)) + " " + (-double.Parse(arr[rollATT]) / 100.0));
}
else
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
}
swloctel.WriteLine(Path.GetFileName(filename) + "\t" + logdt.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
swloctel.Flush();
swloctxt.Flush();
GenPhotoStationRecord(swloctrim, filename, double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), 0, 0, double.Parse(arr[cogpos]), 3200, 2400);
log.InfoFormat(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
swlockml.Write(serializer.Xml);
Utilities.httpserver.georefkml = serializer.Xml;
Utilities.httpserver.georefimagepath = dirWithImages + Path.DirectorySeparatorChar;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx");
// flightmission
GenFlightMission(swloctrim);
swloctrim.WriteEndElement(); // fieldbook
swloctrim.WriteEndElement(); // job
swloctrim.WriteEndDocument();
TXT_outputlog.AppendText("Done " + matchs + " matchs");
}
}
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);
}
}
}
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);
}
}
}
static void exportKml(string filename, string outputFile)
{
Document kml = new Document();
FileChannel ch = new FileChannel(filename);
UAVObjectManager mgr = new UAVObjectManager();
UAVObjectsInitialize.register(mgr);
UavTalk.UavTalkProto tlk = new UavTalkProto(ch, mgr);
mgr.getObject<GPSPositionSensor>().onUpdated += new EventHandler(GpsPositionReceived);
mgr.getObject<PositionState>().onUpdated += new EventHandler(GpsPositionReceived);
ch.open();
while (ch.isRunning)
Thread.Sleep(50);
LineString ls = new LineString();
ls.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
ls.Extrude = true;
ls.Coordinates = coords;
Placemark pm = new Placemark();
pm.Name = "Flight Path ";
//pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
pm.Geometry = ls;
kml.AddFeature(pm);
Serializer serializer = new Serializer();
serializer.Serialize(kml);
StreamWriter sw = new StreamWriter(outputFile);
sw.Write(serializer.Xml);
sw.Close();
}
public string GetKml()
{
var matchId = _currentMatchProvider.GetMatchId();
SharpKml.Dom.Kml kml = new SharpKml.Dom.Kml();
var document = new Document();
kml.Feature = document;
var c = System.Drawing.ColorTranslator.FromHtml("#33FF33");
var postStyle = new Style();
postStyle.Id = "post_vanlig";
postStyle.Icon = new IconStyle
{
Color = new Color32(c.A, c.R, c.G, c.B),
Icon = new IconStyle.IconLink(new Uri("http://maps.google.com/mapfiles/kml/paddle/wht-blank.png")),
Scale = 0.5
};
document.AddStyle(postStyle);
var lagFolder = new Folder { Name = "Lag" };
var postFolder = new Folder { Name = "Poster" };
document.AddFeature(lagFolder);
document.AddFeature(postFolder);
using (var context = _dataContextFactory.Create())
{
var match = context.Matcher.Single(x => x.MatchId == matchId);
var maxLat = match.GeoboxNWLatitude.GetValueOrDefault();
var minLat = match.GeoboxSELatitude.GetValueOrDefault();
var minLon = match.GeoboxNWLongitude.GetValueOrDefault();
var maxLon = match.GeoboxSELongitude.GetValueOrDefault();
var poster = (from pim in context.PosterIMatch
where pim.Match.MatchId == matchId
select
new
{
pim.SynligFraTid,
pim.SynligTilTid,
pim.Post.Navn,
pim.Post.Latitude,
pim.Post.Longitude
}).ToList();
foreach (var p in poster)
{
var placemark = new Placemark();
placemark.StyleUrl = new Uri("#post_vanlig", UriKind.Relative);
placemark.Time = new TimeSpan { Begin = p.SynligFraTid, End = p.SynligTilTid };
placemark.Name = p.Navn;
placemark.Geometry = new Point { Coordinate = new Vector(p.Latitude, p.Longitude) };
postFolder.AddFeature(placemark);
}
var lag = context.Lag.ToList();
var lagDictionary = new Dictionary<string, Folder>();
foreach (var lag1 in lag)
{
var color = System.Drawing.ColorTranslator.FromHtml("#" + lag1.Farge);
var style = new Style();
style.Id = LagStyleKey(lag1.LagId);
style.Icon = new IconStyle
{
Color = new Color32(color.A, color.R, color.G, color.B),
Icon = new IconStyle.IconLink(new Uri("http://maps.google.com/mapfiles/kml/paddle/wht-blank-lv.png")),
Scale = 0.3
};
document.AddStyle(style);
var folder = new Folder { Name = lag1.Navn };
lagDictionary.Add(lag1.LagId, folder);
lagFolder.AddFeature(folder);
}
var førsteRegistering = (from r in context.PostRegisteringer
select r.RegistertTidspunkt).Min().AddMinutes(-5);
var avsluttet = (from r in poster
select r.SynligTilTid).Min().AddMinutes(5);
var deltakerPosisjoner = (from p in context.DeltakerPosisjoner
join d in context.Deltakere on p.DeltakerId equals d.DeltakerId
where førsteRegistering < p.Tidspunkt && p.Tidspunkt < avsluttet
select new
{
p.Latitude,
p.Longitude,
p.DeltakerId,
d.Navn,
d.Lag.Farge,
d.Lag.LagId,
p.Tidspunkt
}).GroupBy(x => x.DeltakerId).ToDictionary(x => x.Key, y => y);
foreach (var deltaker in deltakerPosisjoner)
{
//if (deltaker.Key != "MS_3-2")
// continue;
var førstePosisjon = deltaker.Value.FirstOrDefault();
var placemark = new Placemark();
placemark.StyleUrl = new Uri("#" + LagStyleKey(førstePosisjon.LagId), UriKind.Relative);
placemark.Name = førstePosisjon.Navn;
var posisjoner = deltaker.Value.OrderBy(x => x.Tidspunkt).ToList();
var track = new Track();
var forrigePosisjon = førstePosisjon;
foreach (var pos in posisjoner)
{
// Utafor boksen
if (pos.Latitude > maxLat || pos.Latitude < minLat || pos.Longitude > maxLon || pos.Longitude < minLon)
{
continue;
}
var meter = DistanseKalkulator.MeterMellom(forrigePosisjon.Latitude, forrigePosisjon.Longitude, pos.Latitude, pos.Longitude);
var sekunder = pos.Tidspunkt.Subtract(forrigePosisjon.Tidspunkt).TotalSeconds;
if (sekunder > 0)
{
var fart = meter / sekunder;
if (fart > 8.333) // raskere enn 12 blank på 100m
{
continue;
}
}
track.AddWhen(pos.Tidspunkt);
track.AddCoordinate(new Vector(pos.Latitude, pos.Longitude));
forrigePosisjon = pos;
}
placemark.Geometry = track;
lagDictionary[førstePosisjon.LagId].AddFeature(placemark);
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
return serializer.Xml;
}
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);
}
}
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
List<string[]> list = readLog(logFile);
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
string[] files = Directory.GetFiles(dirWithImages);
Document kml = new Document();
StreamWriter sw3 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml");
StreamWriter sw2 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt");
StreamWriter sw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel");
sw.WriteLine("version=1");
sw.WriteLine("#longitude and latitude - in degrees");
sw.WriteLine("#name utc longitude latitude height");
int first = 0;
int matchs = 0;
foreach (string file in files)
{
if (file.ToLower().EndsWith(".jpg"))
{
DateTime dt = getPhotoTime(file);
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(dt.Year, dt.Month, dt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (localmin > crap)
localmin = crap;
if (localmax < crap)
localmax = crap;
}
Console.WriteLine("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " time " + dt + "\r\n");
foreach (string[] arr in list)
{
//Application.DoEvents();
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + " vs Log " + crap + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (dt - crap).TotalSeconds + "\r\n");
if (dooffset)
return;
first++;
}
//Console.Write("ph " + dt + " log " + crap + " \r");
if (dt.Equals(crap))
{
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + "\r\n");
matchs++;
kml.AddFeature(
new Placemark()
{
Name = Path.GetFileNameWithoutExtension(file),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[lngpos]), double.Parse(arr[latpos]), double.Parse(arr[altpos]))
}
}
);
sw2.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
sw.Flush();
sw2.Flush();
Console.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
sw3.Write(serializer.Xml);
sw3.Close();
sw2.Close();
sw.Close();
MessageBox.Show("Done " + matchs + " matchs");
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
photocoords = new Hashtable();
timecoordcache = new Hashtable();
imagetotime = new Hashtable();
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
TXT_outputlog.AppendText("Read Log\n");
List<string[]> list = readLog(logFile);
TXT_outputlog.AppendText("Log Read\n");
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages);
TXT_outputlog.AppendText("images read\n");
Document kml = new Document();
StreamWriter sw4 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv");
StreamWriter sw3 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml");
StreamWriter sw2 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt");
StreamWriter sw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel");
sw.WriteLine("version=1");
sw.WriteLine("#seconds offset - " + TXT_offsetseconds.Text);
sw.WriteLine("#longitude and latitude - in degrees");
sw.WriteLine("#name utc longitude latitude height");
int first = 0;
int matchs = 0;
int lastmatchindex = 0;
TXT_outputlog.AppendText("start Processing\n");
foreach (string filename in files)
{
if (filename.ToLower().EndsWith(".jpg") && !filename.ToLower().Contains("_geotag"))
{
DateTime photodt = getPhotoTime(filename);
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(photodt.Year, photodt.Month, photodt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (localmin > crap)
localmin = crap;
if (localmax < crap)
localmax = crap;
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " time " + photodt + "\r\n");
//Application.DoEvents();
int a = 0;
foreach (string[] arr in list)
{
a++;
if (lastmatchindex > (a))
continue;
if (a % 1000 == 0)
Application.DoEvents();
DateTime logdt = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + " vs Log " + logdt + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (photodt - logdt).TotalSeconds + "\r\n");
if (dooffset)
return;
first++;
}
// time has past, logs are in time order
if (photodt < logdt.AddSeconds(-1))
{
lastmatchindex = a;
break;
}
//Console.Write("ph " + dt + " log " + crap + " \r");
timecoordcache[(long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds] = new double[] {
double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos])
};
sw4.WriteLine("ph " + filename + " " + photodt + " log " + logdt);
if (photodt.ToString("yyyy-MM-ddTHH:mm:ss") == logdt.ToString("yyyy-MM-ddTHH:mm:ss"))
{
lastmatchindex = a;
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + "\r\n");
matchs++;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = photodt;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Name = Path.GetFileNameWithoutExtension(filename),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + Path.GetFileName(filename).ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle() { Text = "$[name]<br>$[description]" }
}
}
);
photocoords[filename] = new double[] { double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), double.Parse(arr[cogpos]) };
imagetotime[filename] = (long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds;
sw2.WriteLine(Path.GetFileNameWithoutExtension(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
sw.WriteLine(Path.GetFileNameWithoutExtension(filename) + "\t" + logdt.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
sw.Flush();
sw2.Flush();
log.InfoFormat(Path.GetFileNameWithoutExtension(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
sw3.Write(serializer.Xml);
sw3.Close();
MainV2.instance.georefkml = serializer.Xml;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx");
sw4.Close();
sw2.Close();
sw.Close();
TXT_outputlog.AppendText("Done " + matchs + " matchs");
}
private void CreateReportFiles(Dictionary<string, PictureInformation> listPhotosWithInfo, string dirWithImages, float offset)
{
// Write report files
Document kml = new Document();
// Clear Stations IDs
JXL_StationIDs.Clear();
using (StreamWriter swlogloccsv = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv"))
using (StreamWriter swlockml = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml"))
using (StreamWriter swloctxt = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt"))
using (StreamWriter swloctel = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel"))
using (XmlTextWriter swloctrim = new XmlTextWriter(dirWithImages + Path.DirectorySeparatorChar + "location.jxl", Encoding.ASCII))
{
swloctrim.Formatting = Formatting.Indented;
swloctrim.WriteStartDocument(false);
swloctrim.WriteStartElement("JOBFile");
swloctrim.WriteAttributeString("jobName", "MPGeoRef");
swloctrim.WriteAttributeString("product", "Gatewing");
swloctrim.WriteAttributeString("productVersion", "1.0");
swloctrim.WriteAttributeString("version", "5.6");
// enviro
swloctrim.WriteStartElement("Environment");
swloctrim.WriteStartElement("CoordinateSystem");
swloctrim.WriteElementString("SystemName", "Default");
swloctrim.WriteElementString("ZoneName", "Default");
swloctrim.WriteElementString("DatumName", "WGS 1984");
swloctrim.WriteStartElement("Ellipsoid");
swloctrim.WriteElementString("EarthRadius", "6378137");
swloctrim.WriteElementString("Flattening", "0.00335281067183");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("Projection");
swloctrim.WriteElementString("Type", "NoProjection");
swloctrim.WriteElementString("Scale", "1");
swloctrim.WriteElementString("GridOrientation", "IncreasingNorthEast");
swloctrim.WriteElementString("SouthAzimuth", "false");
swloctrim.WriteElementString("ApplySeaLevelCorrection", "true");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("LocalSite");
swloctrim.WriteElementString("Type", "Grid");
swloctrim.WriteElementString("ProjectLocationLatitude", "");
swloctrim.WriteElementString("ProjectLocationLongitude", "");
swloctrim.WriteElementString("ProjectLocationHeight", "");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("Datum");
swloctrim.WriteElementString("Type", "ThreeParameter");
swloctrim.WriteElementString("GridName", "WGS 1984");
swloctrim.WriteElementString("Direction", "WGS84ToLocal");
swloctrim.WriteElementString("EarthRadius", "6378137");
swloctrim.WriteElementString("Flattening", "0.00335281067183");
swloctrim.WriteElementString("TranslationX", "0");
swloctrim.WriteElementString("TranslationY", "0");
swloctrim.WriteElementString("TranslationZ", "0");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("HorizontalAdjustment");
swloctrim.WriteElementString("Type", "NoAdjustment");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("VerticalAdjustment");
swloctrim.WriteElementString("Type", "NoAdjustment");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("CombinedScaleFactor");
swloctrim.WriteStartElement("Location");
swloctrim.WriteElementString("Latitude", "");
swloctrim.WriteElementString("Longitude", "");
swloctrim.WriteElementString("Height", "");
swloctrim.WriteEndElement();
swloctrim.WriteElementString("Scale", "");
swloctrim.WriteEndElement();
swloctrim.WriteEndElement();
swloctrim.WriteEndElement();
// fieldbook
swloctrim.WriteStartElement("FieldBook");
swloctrim.WriteRaw(@" <CameraDesignRecord ID='00000001'>
<Type>GoPro </Type>
<HeightPixels>2400</HeightPixels>
<WidthPixels>3200</WidthPixels>
<PixelSize>0.0000022</PixelSize>
<LensModel>Rectilinear</LensModel>
<NominalFocalLength>0.002</NominalFocalLength>
</CameraDesignRecord>
<CameraRecord2 ID='00000002'>
<CameraDesignID>00000001</CameraDesignID>
<CameraPosition>01</CameraPosition>
<Optics>
<IdealAngularMagnification>1.0</IdealAngularMagnification>
<AngleSymmetricDistortion>
<Order3>-0.35</Order3>
<Order5>0.15</Order5>
<Order7>-0.033</Order7>
<Order9> 0</Order9>
</AngleSymmetricDistortion>
<AngleDecenteringDistortion>
<Column>0</Column>
<Row>0</Row>
</AngleDecenteringDistortion>
</Optics>
<Geometry>
<PerspectiveCenterPixels>
<PrincipalPointColumn>-1615.5</PrincipalPointColumn>
<PrincipalPointRow>-1187.5</PrincipalPointRow>
<PrincipalDistance>-2102</PrincipalDistance>
</PerspectiveCenterPixels>
<VectorOffset>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
</VectorOffset>
<BiVectorAngle>
<XX>0</XX>
<YY>0</YY>
<ZZ>-1.5707963268</ZZ>
</BiVectorAngle>
</Geometry>
</CameraRecord2>");
// 2mm fl
// res 2400 * 3200 = 7,680,000
// sensor size = 1/2.5" - 5.70 × 4.28 mm
// 2.2 μm
// fl in pixels = fl in mm * res / sensor size
swloctrim.WriteStartElement("PhotoInstrumentRecord");
swloctrim.WriteAttributeString("ID", "0000000E");
swloctrim.WriteElementString("Type", "Aerial");
swloctrim.WriteElementString("Model", "X100");
swloctrim.WriteElementString("Serial", "000-000");
swloctrim.WriteElementString("FirmwareVersion", "v0.0");
swloctrim.WriteElementString("UserDefinedName", "Prototype");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("AtmosphereRecord");
swloctrim.WriteAttributeString("ID", "0000000F");
swloctrim.WriteElementString("Pressure", "");
swloctrim.WriteElementString("Temperature", "");
swloctrim.WriteElementString("PPM", "");
swloctrim.WriteElementString("ApplyEarthCurvatureCorrection", "false");
swloctrim.WriteElementString("ApplyRefractionCorrection", "false");
swloctrim.WriteElementString("RefractionCoefficient", "0");
swloctrim.WriteElementString("PressureInputMethod", "ReadFromInstrument");
swloctrim.WriteEndElement();
swloctel.WriteLine("version=1");
swloctel.WriteLine("#seconds offset - " + offset);
swloctel.WriteLine("#longitude and latitude - in degrees");
swloctel.WriteLine("#name utc longitude latitude height");
swloctxt.WriteLine("#name longitude/X latitude/Y height/Z yaw pitch roll");
TXT_outputlog.AppendText("Start Processing\n");
// Dont know why but it was 10 in the past so let it be. Used to generate jxl file simulating x100 from trimble
int lastRecordN = JXL_ID_OFFSET;
// path
CoordinateCollection coords = new CoordinateCollection();
foreach (var item in vehicleLocations.Values)
{
coords.Add(new SharpKml.Base.Vector(item.Lat, item.Lon, item.AltAMSL));
}
var ls = new LineString() { Coordinates = coords, AltitudeMode = AltitudeMode.Absolute };
SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark() { Geometry = ls, Name = "path" };
kml.AddFeature(pm);
foreach (PictureInformation picInfo in listPhotosWithInfo.Values)
{
string filename = Path.GetFileName(picInfo.Path);
string filenameWithoutExt = Path.GetFileNameWithoutExtension(picInfo.Path);
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = picInfo.Time;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Visibility = true,
Name = filenameWithoutExt,
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(picInfo.Lat, picInfo.Lon, picInfo.AltAMSL),
AltitudeMode = AltitudeMode.Absolute
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + filename.ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle() { Text = "$[name]<br>$[description]" }
}
}
);
double lat = picInfo.Lat;
double lng = picInfo.Lon;
double alpha = picInfo.Yaw + (double)num_camerarotation.Value;;
RectangleF rect = getboundingbox(lat, lng, alpha, (double)num_hfov.Value, (double)num_vfov.Value);
Console.WriteLine(rect);
//http://en.wikipedia.org/wiki/World_file
/* using (StreamWriter swjpw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".jgw"))
{
swjpw.WriteLine((rect.Height / 2448.0).ToString("0.00000000000000000"));
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((rect.Width / -3264.0).ToString("0.00000000000000000")); // distance per pixel
swjpw.WriteLine((rect.Left).ToString("0.00000000000000000"));
swjpw.WriteLine((rect.Top).ToString("0.00000000000000000"));
swjpw.Close();
}*/
kml.AddFeature(
new GroundOverlay()
{
Name = filenameWithoutExt,
Visibility = false,
Time = tstamp,
AltitudeMode = AltitudeMode.ClampToGround,
Bounds = new LatLonBox()
{
Rotation = -alpha % 360,
North = rect.Bottom,
East = rect.Right,
West = rect.Left,
South = rect.Top,
},
Icon = new SharpKml.Dom.Icon()
{
Href = new Uri(filename.ToLower(), UriKind.Relative),
},
}
);
swloctxt.WriteLine(filename + " " + picInfo.Lat + " " + picInfo.Lon + " " + picInfo.getAltitude(useAMSLAlt) + " " + picInfo.Yaw + " " + picInfo.Pitch + " " + picInfo.Roll);
swloctel.WriteLine(filename + "\t" + picInfo.Time.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + picInfo.Lon + "\t" + picInfo.Lat + "\t" + picInfo.getAltitude(useAMSLAlt));
swloctel.Flush();
swloctxt.Flush();
lastRecordN = GenPhotoStationRecord(swloctrim, picInfo.Path, picInfo.Lat, picInfo.Lon, picInfo.getAltitude(useAMSLAlt), 0, 0, picInfo.Yaw, picInfo.Width, picInfo.Height, lastRecordN);
log.InfoFormat(filename + " " + picInfo.Lon + " " + picInfo.Lat + " " + picInfo.getAltitude(useAMSLAlt) + " ");
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
swlockml.Write(serializer.Xml);
Utilities.httpserver.georefkml = serializer.Xml;
Utilities.httpserver.georefimagepath = dirWithImages + Path.DirectorySeparatorChar;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx", listPhotosWithInfo);
// flightmission
GenFlightMission(swloctrim, lastRecordN);
swloctrim.WriteEndElement(); // fieldbook
swloctrim.WriteEndElement(); // job
swloctrim.WriteEndDocument();
TXT_outputlog.AppendText("Done \n\n");
}
}
public void TestLegacyKml()
{
const string Xml =
"<kml xmlns=\"http://earth.google.com/kml/2.2\">" +
"<Placemark>" +
"<name>My Placemark</name>" +
"</Placemark>" +
"</kml>";
var parser = new Parser();
parser.ParseString(Xml, false);
Kml root = parser.Root as Kml;
Assert.That(root, Is.Not.Null);
// Make sure it didn't add the old namespace
Assert.That(root.Namespaces.GetNamespacesInScope(XmlNamespaceScope.ExcludeXml),
Is.Not.Contains(string.Empty));
// Make sure it serializes
Serializer serializer = new Serializer();
Assert.That(() => serializer.Serialize(root), Throws.Nothing);
Assert.That(serializer.Xml, Is.Not.Null.Or.Empty);
}