public static Folder PlacemarkFolder(IQueryable<Cave> caves)
{
//List<Placemark> cavePlacemarkList = new List<Placemark>();
Folder caveFolder = new Folder();
caveFolder.Name = "Cave Folder";
foreach (Cave cave in caves)
{
foreach (var entrance in cave.Entrances)
{
Placemark placemark = new Placemark();
placemark.Name = cave.Name + " (E" + entrance.Name + ")";
placemark.Description = new Description() { Text = cave.Description };
Point point = new Point();
point.Coordinate = new Vector(entrance.GeoLocation.Latitude ?? 0, entrance.GeoLocation.Longitude ?? 0, entrance.GeoLocation.Elevation ?? 0);
placemark.Geometry = point;
caveFolder.AddFeature(placemark);
}
}
return caveFolder;
}
public void TestCalculateLookAt()
{
Placemark placemark = null;
Assert.That(() => placemark.CalculateLookAt(),
Throws.TypeOf<ArgumentNullException>());
placemark = new Placemark();
Assert.That(placemark.CalculateLookAt(), Is.Null); // Nothing to look at
Point point = new Point();
point.Coordinate = new Vector(37, -122);
placemark.Geometry = point;
var lookat = placemark.CalculateLookAt();
Assert.That(lookat, Is.Not.Null);
Assert.That(lookat.Latitude, Is.EqualTo(37.0));
Assert.That(lookat.Longitude, Is.EqualTo(-122.0));
Assert.That(lookat.Range, Is.EqualTo(1000.0));
Assert.That(lookat.AltitudeMode, Is.EqualTo(AltitudeMode.RelativeToGround));
Assert.That(lookat.Altitude, Is.Null);
Assert.That(lookat.Heading, Is.Null);
Assert.That(lookat.Tilt, Is.Null);
LineString line = new LineString();
line.Coordinates = new CoordinateCollection();
line.Coordinates.Add(new Vector(37, -122));
line.Coordinates.Add(new Vector(38, -121));
placemark = new Placemark();
placemark.Geometry = line;
lookat = placemark.CalculateLookAt();
Assert.That(lookat.Latitude, Is.EqualTo(37.5));
Assert.That(lookat.Longitude, Is.EqualTo(-121.5));
Assert.That(lookat.Range, Is.EqualTo(135123.4361).Within(0.0001));
}
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 TestClone()
{
Placemark placemark = null;
Assert.That(() => placemark.Clone(),
Throws.TypeOf<ArgumentNullException>());
placemark = new Placemark();
placemark.Id = "ID";
placemark.Geometry = new Point();
var clone = placemark.Clone();
Assert.That(clone, Is.Not.SameAs(placemark));
Assert.That(clone.Id, Is.EqualTo(placemark.Id)); // Test attribute
Assert.That(clone.Geometry, Is.Not.Null); // Test element
// Make sure as we change one the other doesn't
((Point)clone.Geometry).Extrude = true;
Assert.That(((Point)clone.Geometry).Extrude,
Is.Not.EqualTo(((Point)placemark.Geometry).Extrude));
Folder folder = new Folder();
folder.AddFeature(placemark);
folder.AddFeature(new Document());
var copy = folder.Clone();
Assert.That(copy.Features.Count(), Is.EqualTo(folder.Features.Count()));
placemark.Id = "changed";
Assert.That(folder.FindFeature(placemark.Id), Is.Not.Null);
Assert.That(copy.FindFeature(placemark.Id), Is.Null);
}
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 void CanSaveAndRestoreHiddenData()
{
var placemark = new Placemark { Name = "TestPlacemark" };
placemark.ExtendedData = new ExtendedData();
placemark.ExtendedData.AddHiddenData(new HiddenData { Name = "HIDDEN_KEY", Value = "A VALUE" });
var buffer = new byte[2048];
using (var ms = new MemoryStream(buffer))
{
KmlFile.Create(placemark, false).Save(ms);
ms.Flush();
using (var reader = new StreamReader(new MemoryStream(buffer)))
{
Console.WriteLine(reader.ReadToEnd());
}
using (var ms2 = new MemoryStream(buffer))
{
var kmlFile = KmlFile.Load(ms2);
Assert.That(kmlFile.Root, Is.InstanceOf<Placemark>());
var placemarkCopy = kmlFile.Root as Placemark;
Assert.That(placemarkCopy.ExtendedData.HiddenData.Any(), Is.True);
var hidden = placemarkCopy.ExtendedData.HiddenData.First(h => h.Name == "HIDDEN_KEY");
Assert.That(hidden, Is.Not.Null);
}
}
}
public void AddLine(Line lineIn, Dictionary <string, string> dicData)
{
var colorLine = sb.Color32.Parse(ConvertColor(sb.Color32.Parse(lineIn.Color), lineIn.Opacity));
var style = new sd.Style
{
Line = new sd.LineStyle
{
Color = colorLine,
Width = lineIn.Width,
}
};
var line = new sd.LineString
{
Extrude = true,
Tessellate = true,
Coordinates = lineIn.Vectors
};
var placemark = new sd.Placemark
{
Name = lineIn.Name,
Geometry = line,
ExtendedData = ExtendedData(dicData)
};
placemark.AddStyle(style);
Document.AddFeature(placemark);
}
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()
{
var point = new sd.Point
{
Coordinate = new sb.Vector(37.42052549, -122.0816695)
};
var placemark = new sd.Placemark
{
Name = "Да круто",
Geometry = point
};
var point1 = new sd.Point
{
Coordinate = new sb.Vector(37.419837, -122.078902)
};
var placemark1 = new sd.Placemark
{
Name = "Да круто",
Geometry = point1
};
var document = new sd.Document
{
Description = new sd.Description {
Text = "Документ"
}
};
var kml = new sd.Kml
{
Feature = document
};
var folder = new sd.Folder
{
Description = new sd.Description {
Text = "Светофоры"
},
Name = "СО"
};
folder.AddFeature(placemark);
document.AddFeature(folder);
document.AddFeature(placemark1);
//var serializer = new sb.Serializer();
//using FileStream fileStream = new FileStream("kmlTest.kml", FileMode.OpenOrCreate);
//serializer.Serialize(kml, fileStream);
var kmlFile = KmlFile.Create(kml, true);
//using KmzFile kmz = SaveKmlAndLinkedContentIntoAKmzArchive(kmlFile, OutputPath);
//using Stream output = File.Create(OutputPath);
//kmz.Save(output);
//Console.WriteLine("Saved to '{0}'.", OutputPath);
//Console.ReadKey();
}
public void KmlFileURLTest()
{
GeoAPI.GeometryServiceProvider.Instance = NetTopologySuite.NtsGeometryServices.Instance;
HttpWebRequest req = (HttpWebRequest)WebRequest.Create(new Uri("http://112.74.67.213:6080/huayu/TestData/raw/master/online/Polygontwo_LayerToKML.kml"));
HttpWebResponse resp = (HttpWebResponse)req.GetResponse();
var kml = KmlProvider.FromKml(resp.GetResponseStream());
Assert.IsNotNull(kml);
var fullExtent = kml.GetExtents();
Assert.IsNotNull(fullExtent);
List <string> ids = kml.GetObjectIDsInViewForSList(fullExtent);
Assert.AreEqual(ids[0], "ID_00000");
FeatureDataRow dr = kml.GetFeature(ids[0]);
Assert.IsNotNull(dr);
Assert.IsNotNull(dr.ItemArray);
Assert.AreEqual(dr.ItemArray[0], "ID_00000");
Assert.AreEqual(dr.ItemArray[1], "PolyStyle00");
SharpKml.Dom.Placemark placemark = (SharpKml.Dom.Placemark)dr.ItemArray[2];
Assert.IsNotNull(placemark);
Assert.AreEqual(placemark.Id, "ID_00000");
Assert.AreEqual(placemark.Name, "a");
Assert.AreEqual(placemark.Description.Text.Trim().Length, 1095);
Assert.AreEqual(placemark.StyleUrl.ToString(), "#PolyStyle00");
Assert.IsNull(placemark.Visibility);
Assert.IsNull(placemark.Open);
Assert.IsNull(placemark.Address);
Assert.IsNotNull(placemark.Snippet);
Assert.IsNotNull(dr.Geometry);
Assert.IsInstanceOf(typeof(GeometryCollection), dr.Geometry);
GeometryCollection gc = (GeometryCollection)dr.Geometry;
Assert.AreEqual(gc.NumGeometries, 3);
Func <List <Coordinate>, string> gwl = (list) =>
{
var result = "";
foreach (var item in list)
{
result += $"{item.X},{item.Y} ";
}
return(result);
};
for (int i = 0; i < gc.NumGeometries; i++)
{
IGeometry geo = gc.GetGeometryN(i);
Console.WriteLine($"{i}:{geo.GeometryType},{gwl(geo.Coordinates.ToList())}");
}
Assert.IsNotNull(dr.Table);
Assert.AreEqual(dr.IsFeatureGeometryNull(), false);
Assert.AreEqual(kml.GetFeatureCount(), 2);
Console.WriteLine(string.Format("kml.GetFeatureCount():{0}", kml.GetFeatureCount()));
Console.WriteLine(string.Format("kml.GetExtents():{0}", kml.GetExtents()));
}
public SharpKml.Dom.Placemark makeSimplePlacemark(SharpKml.Dom.LineString lineString, string name)
{
var pm = new SharpKml.Dom.Placemark();
pm.Geometry = lineString;
pm.Name = name;
return(pm);
}
public SharpKml.Dom.Placemark makeSimplePlacemark(SharpKml.Dom.Polygon poly, string name, string styleName)
{
var pm = new SharpKml.Dom.Placemark();
pm.Geometry = poly;
pm.Name = name;
pm.StyleUrl = new Uri("#" + styleName, UriKind.Relative);
return(pm);
}
public override void addAddresstoKmlDocument(KmlPrepData prepData, Document KmlDoc)
{
Point point = new Point();
point.Coordinate = new Vector(prepData.lat, prepData.lng);
Placemark placemark = new Placemark();
placemark.Geometry = point;
placemark.Name = prepData.name;
KmlDoc.AddFeature(placemark);
}
/// <summary>
/// Assembles location to folder.
/// </summary>
/// <param name="dbLocation">The database location.</param>
/// <returns>Dom.Folder.</returns>
private static Dom.Folder AssembleToFolder(FormationMatcher dbLocation)
{
Dom.Folder locationGroup = new Dom.Folder {
Name = dbLocation.FormationName
};
if (!string.IsNullOrWhiteSpace(dbLocation.SubFormationName))
{
locationGroup.Name += " (" + dbLocation.SubFormationName + ")";
}
Location location = dbLocation.MatchedLocation;
if (location == null)
{
return(locationGroup);
}
// This will be used for the placemark
Dom.Point point = new Dom.Point {
Coordinate = new Vector(location.Latitude, location.Longitude)
};
Dom.Placemark placemark = new Dom.Placemark {
Name = location.Name
};
if (!string.IsNullOrWhiteSpace(location.OtherName))
{
placemark.Name += " (" + location.OtherName + ")";
}
placemark.Geometry = point;
locationGroup.AddFeature(placemark);
//foreach (PeakbaggerLocation location in dbLocation.PossibleLocations)
//{
// // This will be used for the placemark
// Dom.Point point = new Dom.Point {Coordinate = new Vector(location.Latitude, location.Longitude)};
// Dom.Placemark placemark = new Dom.Placemark {Name = location.Name};
// if (!string.IsNullOrWhiteSpace(location.OtherName))
// {
// placemark.Name += " (" + location.OtherName + ")";
// }
// placemark.Geometry = point;
// locationGroup.AddFeature(placemark);
//}
return(locationGroup);
// Add to the root
//kml.Feature = locationGroup;
//WriteToKml(filePath, kml);
//Console.WriteLine(serializer.Xml);
}
private void FindCheckpoints(Placemark p, List<CheckpointLocation> locations)
{
Point point = p.Flatten().OfType<Point>().FirstOrDefault();
if (point == null)
return;
CheckpointLocation location = new CheckpointLocation
{
Name = p.Name,
Location = point.Coordinate
};
locations.Add(location);
}
// TODO: Need to change so that you can handle 1's and 2's in column not just not 0
public override void classifyProspect(JoinedProspect joinedProspect ,Placemark placemark)
{
if (joinedProspect.currentCustomerFlag != 0)
{
placemark.StyleUrl = new Uri("#currentCustomer", UriKind.Relative);
}
else if (joinedProspect.doNotContactFlag != 0)
{
placemark.StyleUrl = new Uri("#doNoContact", UriKind.Relative);
}
else if (joinedProspect.cancelledFlag != 0)
{
placemark.StyleUrl = new Uri("#cancelledCustomer", UriKind.Relative);
}
}
// this adds an element to the document and adds a place marker
public override void addElementToKmlDocument(JoinedProspect joinedProspect, Document kmlDoc)
{
Point point = new Point();
point.Coordinate = new Vector(joinedProspect.CorrectedLatitude, joinedProspect.CorrectedLongitude);
Placemark placemark = new Placemark();
placemark.Geometry = point;
placemark.Name = joinedProspect.firstName + " " + joinedProspect.lastName;
placemark.Address = joinedProspect.Address;
placemark.Description = new Description() { Text = "ClassFP: " + joinedProspect.classFP + " IncorpName: " + joinedProspect.incorpName + " Address: " + joinedProspect.Address + " <h3>HelloWorld</h3>"};
classifyProspect(joinedProspect, placemark);
kmlDoc.AddFeature(placemark);
}
public void TestAddChild()
{
var child = new Placemark();
var parent1 = new Folder();
var parent2 = new Folder();
parent1.AddFeature(child);
// child belongs to another element, should throw
Assert.That(() => parent2.AddFeature(child),
Throws.TypeOf<InvalidOperationException>());
// child has already been added once
Assert.That(() => parent1.AddFeature(child),
Throws.TypeOf<InvalidOperationException>());
}
public static void SaveLineString(List <PointLatLng> points, string name, string filePath)
{
Placemark root = new Placemark
{
Name = name
};
LineString str = new LineString
{
Coordinates = new CoordinateCollection()
};
foreach (PointLatLng lng in points)
{
str.Coordinates.Add(new Vector(lng.Lat, lng.Lng));
}
root.Geometry = str;
KmlFile.Create(root, false).Save(filePath);
}
public static void SavePoints(List <PointLatLng> points, string name, string filePath)
{
Kml root = new Kml();
Document document = new Document();
foreach (PointLatLng lng in points)
{
Placemark feature = new Placemark();
Point point = new Point
{
Coordinate = new Vector(lng.Lat, lng.Lng)
};
feature.Geometry = point;
document.AddFeature(feature);
}
root.Feature = document;
KmlFile.Create(root, false).Save(filePath);
}
public void TestGetParent()
{
Placemark placemark = null;
Assert.That(() => placemark.GetParent<Folder>(),
Throws.TypeOf<ArgumentNullException>());
placemark = new Placemark();
Assert.That(placemark.GetParent<Folder>(), Is.Null);
var folder = new Folder();
folder.AddFeature(placemark);
Assert.That(placemark.GetParent<Folder>(), Is.SameAs(folder));
Assert.That(placemark.GetParent<Kml>(), Is.Null);
var kml = new Kml();
kml.Feature = folder;
Assert.That(placemark.GetParent<Kml>(), Is.SameAs(kml));
}
public void TestCalculateBounds()
{
Placemark placemark = null;
Assert.That(() => placemark.CalculateBounds(),
Throws.TypeOf<ArgumentNullException>());
placemark = new Placemark();
Assert.That(placemark.CalculateBounds(), Is.Null);
using (var stream = SampleData.CreateStream("Engine.Data.Bounds.kml"))
{
KmlFile file = KmlFile.Load(stream);
foreach (var test in TestCases)
{
RunTestCase(file, test.Id, test.Box);
}
}
}
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 TestChangeCoordinates()
{
// Create the target
var point = new Point();
point.Coordinate = new Vector(38.38, -122.122);
var placemark = new Placemark();
placemark.Id = "placemark123";
placemark.Geometry = point;
placemark.Name = "placemark name";
var file = KmlFile.Create(placemark, false);
// Now create the Update
const double latitude = -38.38;
const double longitude = 122.122;
point = new Point();
point.Coordinate = new Vector(latitude, longitude);
placemark = new Placemark();
placemark.Geometry = point;
placemark.TargetId = "placemark123";
var change = new ChangeCollection();
change.Add(placemark);
var update = new Update();
update.AddUpdate(change);
// Now test the update worked
update.Process(file);
placemark = file.Root as Placemark;
Assert.That(placemark, Is.Not.Null);
Assert.That(placemark.Id, Is.EqualTo("placemark123"));
Assert.That(placemark.Name, Is.EqualTo("placemark name"));
point = placemark.Geometry as Point;
Assert.That(point, Is.Not.Null);
Assert.That(point.Coordinate.Latitude, Is.EqualTo(latitude));
Assert.That(point.Coordinate.Longitude, Is.EqualTo(longitude));
}
/// <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 AddPoligon(Polygon poly, Dictionary <string, string> dicData)
{
var colorPoly = sb.Color32.Parse(ConvertColor(sb.Color32.Parse(poly.ColorPoly), poly.OpacityPoly));
var colorLine = sb.Color32.Parse(ConvertColor(sb.Color32.Parse(poly.ColorLine), poly.OpacityLine));
var style = new sd.Style
{
Polygon = new sd.PolygonStyle
{
Fill = true,
Color = colorPoly,
Outline = true
},
Line = new sd.LineStyle
{
Color = colorLine,
Width = poly.WidthLine,
}
};
var polygon = new sd.Polygon
{
Extrude = true,
Tessellate = true,
OuterBoundary = new sd.OuterBoundary
{
LinearRing = new sd.LinearRing
{
Coordinates = poly.OuterBoundaryIs
}
}
};
var placemark = new sd.Placemark
{
Name = poly.Name,
Geometry = polygon,
ExtendedData = ExtendedData(dicData)
};
placemark.AddStyle(style);
Document.AddFeature(placemark);
}
private async void ConvertFileToKml()
{
KmlFile kmlF;
foreach(YouMapPoint yp in loadmap.Points)
{
Point p = new Point();
Placemark pl = new Placemark();
p.Coordinate = yp.getLocationAsVector();
pl.Geometry = p;
doc.AddFeature(pl);
}
foreach(YouMapPolyline yp in loadmap.Polylines)
{
LineString ln = new LineString();
ln.Coordinates = yp.LocationAsCords;
Placemark pl = new Placemark();
pl.Geometry = ln;
doc.AddFeature(pl);
}
kml = new Kml();
kml.Feature = doc;
kmlF = KmlFile.Create(kml, false);
StorageFolder root = await IOFile.getMyRootfolder();
StorageFile newFile = await root.CreateFileAsync("Bobby.kml", CreationCollisionOption.ReplaceExisting);
using (IRandomAccessStream fileStream = await newFile.OpenAsync(FileAccessMode.ReadWrite))
{
Stream myStream = fileStream.AsStreamForWrite();
kmlF.Save(myStream);
}
}
public async System.Threading.Tasks.Task SaveAsKmlAsync()
{
Kml kml = new Kml();
Document document = new Document();
document.Name = "Weeds from ThistleTracker";
kml.Feature = document;
// Loop & add weedspots
foreach (WeedSpot spot in _spots)
{
Point point = new Point();
point.Coordinate = new Vector(spot.Latitude, spot.Longitude);
SharpKml.Dom.Placemark place = new SharpKml.Dom.Placemark();
place.Name = spot.Name;
place.Geometry = point;
document.AddFeature(place);
}
string fileName = System.IO.Path.Combine(Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData), "Weeds.kml");
// delete if existing
if (File.Exists(fileName))
{
File.Delete(fileName);
}
// Create KML file
KmlFile kmlFile = KmlFile.Create(kml, true);
using (FileStream stream = File.OpenWrite(fileName))
{
kmlFile.Save(stream);
}
// Share with other apps
await Share.RequestAsync(new ShareFileRequest
{
Title = "ThistleTracker KML Export",
File = new ShareFile(fileName)
});
}
public static int SavePoints(List <PointLatLngWithProperty> points, string name, string filePath)
{
int num = 0;
Kml root = new Kml();
Document document = new Document();
foreach (PointLatLngWithProperty property in points)
{
try
{
if ((property.Point.Lat != 0.0) && (property.Point.Lng != 0.0))
{
Placemark feature = new Placemark();
Point point = new Point
{
Coordinate = new Vector(property.Point.Lat, property.Point.Lng)
};
feature.Geometry = point;
feature.Description = new Description();
foreach (KeyValuePair <string, string> pair in property.Properties)
{
Description description = feature.Description;
description.Text = description.Text + string.Format("{0}:{1}\r\n", pair.Key, pair.Value);
}
document.AddFeature(feature);
num++;
}
continue;
}
catch
{
continue;
}
}
root.Feature = document;
KmlFile.Create(root, false).Save(filePath);
return(num);
}
/// <summary>
/// Extracts the placemarks from the feature.
/// </summary>
/// <param name="feature">The feature.</param>
/// <param name="placemarks">The list to add the placemark to.</param>
private static void ExtractPlacemarks(Dom.Feature feature, List <Dom.Placemark> placemarks)
{
// Is the passed in value a Placemark?
Dom.Placemark placemark = feature as Dom.Placemark;
if (placemark != null)
{
placemarks.Add(placemark);
}
else
{
// Is it a Container, as the Container might have a child Placemark?
Dom.Container container = feature as Dom.Container;
if (container == null)
{
return;
}
// Check each Feature to see if it's a Placemark or another Container
foreach (var f in container.Features)
{
ExtractPlacemarks(f, placemarks);
}
}
}
public void AddPoint(Point point, string idStyle, Dictionary <string, string> dicData, sd.Folder folder = null)
{
var pointDoc = new sd.Point
{
Coordinate = new sb.Vector(point.Lon, point.Lat)
};
var exdata = new sd.ExtendedData();
foreach (var data in dicData)
{
var dataDoc = new sd.Data
{
Name = data.Key,
Value = data.Value
};
exdata.AddData(dataDoc);
}
var placemark = new sd.Placemark
{
Name = point.Name,
Geometry = pointDoc,
StyleUrl = new Uri($"#{idStyle}"),
ExtendedData = exdata
};
if (folder == null)
{
Document.AddFeature(placemark);
}
else
{
folder.AddFeature(placemark);
}
}
public void AddPoint(Point point, string idStyle, Dictionary <string, string> dicData, sd.Folder folder = null)
{
var pointDoc = new sd.Point
{
Coordinate = new sb.Vector(point.Lat, point.Lon)
};
var placemark = new sd.Placemark
{
Name = point.Name,
Geometry = pointDoc,
StyleUrl = new Uri($"#{idStyle}", UriKind.Relative),
ExtendedData = ExtendedData(dicData)
};
if (folder == null)
{
Document.AddFeature(placemark);
}
else
{
folder.AddFeature(placemark);
}
}
private bool parsePoint(Placemark placemark, DBStation_Bus dbStationBus, DBStation dbStation, BUS bus, ROUTE route, bool hasStation)
{
foreach (var lineString in placemark.Flatten().OfType<SharpKml.Dom.Point>())
{
IList<STATION> stationsNear = dbStation.SelectStationsNear(50,
Methods.ConvertLatLonToDbGeography(lineString.Coordinate.Longitude, lineString.Coordinate.Latitude));
foreach (var station in stationsNear)
{
STATION_BUSES stationBus = new STATION_BUSES();
stationBus.STATION = station;
stationBus.BUS = bus;
dbStationBus.AddStation_Buses_Route(route, stationBus);
hasStation = true;
}
}
return hasStation;
}
public void TestCalculateLookAtFolder()
{
Location location = new Location();
location.Latitude = 0;
location.Longitude = 0;
Model model = new Model();
model.Location = location;
Placemark placemark = new Placemark();
placemark.Geometry = model;
Folder folder = new Folder();
folder.AddFeature(placemark);
var lookat = folder.CalculateLookAt();
Assert.That(lookat.Latitude, Is.EqualTo(0.0));
Assert.That(lookat.Longitude, Is.EqualTo(0.0));
Assert.That(lookat.Range, Is.EqualTo(1000.0));
Point point = new Point();
point.Coordinate = new Vector(10, 10);
PhotoOverlay overlay = new PhotoOverlay();
overlay.Location = point;
folder.AddFeature(overlay);
lookat = folder.CalculateLookAt();
Assert.That(lookat.Latitude, Is.EqualTo(5.0));
Assert.That(lookat.Longitude, Is.EqualTo(5.0));
Assert.That(lookat.Range, Is.EqualTo(1494183.4444).Within(0.0001));
}
private bool parsePoint(Placemark placemark, bool done, StreamWriter writetext)
{
StringBuilder textString = new StringBuilder();
textString.Append("{");
if (rdbStations.Checked)
{
textString.Append("\"Station_Description\": \"" + placemark.Name + "\"," + Environment.NewLine);
textString.Append("\"Station_Coordinates\": \"");
}
else if (rdbReferences.Checked)
{
textString.Append("\"Known_As_Description\": \"" + placemark.Name + "\"," + Environment.NewLine);
}
foreach (var point in placemark.Geometry.Flatten().OfType<SharpKml.Dom.Point>())
{
DbGeography coordinates = DbGeography.PointFromText("POINT (" + point.Coordinate.Longitude
+ " " + point.Coordinate.Latitude + ")", 4326);
textString.Append(point.Coordinate.Longitude + "," + point.Coordinate.Latitude + "\"");
if (rdbStations.Checked)
{
addStation(placemark, point, coordinates);
done = true;
}
else if (rdbReferences.Checked)
{
addReference(placemark, point, coordinates);
done = true;
}
}
textString.Append("}, " + Environment.NewLine);
writetext.WriteLine(textString.ToString());
return done;
}
Placemark CreatePlaceMark(string title, SharpKml.Dom.Geometry geometry)
{
Placemark placeMark = new Placemark();
placeMark.Name = title;
placeMark.Geometry = geometry;
return placeMark;
}
private void AddGeometryToCollection(Placemark parent, IGeometry geom)
{
List<IGeometry> placeMarkGeoms;
if (_geometrys.TryGetValue(parent, out placeMarkGeoms) == false)
{
placeMarkGeoms = new List<IGeometry>();
_geometrys.Add(parent, placeMarkGeoms);
}
placeMarkGeoms.Add(geom);
}
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);
}
}
}
TreeViewItem ProcessPlacemark(Placemark placemark)
{
string name = placemark.Name;
StackPanel pan = new StackPanel();
pan.Orientation = System.Windows.Controls.Orientation.Horizontal;
Style style = FindStyleByStyleURL(placemark.StyleUrl.OriginalString);
if (placemark.Geometry is Point)
{
Uri uri = null;
if (style != null && style.Icon != null && style.Icon.Icon != null && style.Icon.Icon.Href != null)
{
uri = style.Icon.Icon.Href;
}
Image image = new Image();
image.Height = 16;
image.Source = FindImageByUri(uri);
pan.Children.Add(image);
}
else if (placemark.Geometry is LineString)
{
GeometryGroup Lines = new GeometryGroup();
Color32 styleColor = new Color32();
if (style != null && style.Line != null && style.Line.Color != null)
{
styleColor = (Color32)style.Line.Color;
}
// Line
LineGeometry line = new LineGeometry();
line.StartPoint = new System.Windows.Point(0, 5);
line.EndPoint = new System.Windows.Point(10, 5);
Lines.Children.Add(line);
GeometryDrawing MyGeometryDrawing = new GeometryDrawing();
MyGeometryDrawing.Geometry = Lines;
MyGeometryDrawing.Brush = new SolidColorBrush(Color.FromArgb(styleColor.Alpha, styleColor.Red, styleColor.Green, styleColor.Blue));
MyGeometryDrawing.Pen = new Pen(MyGeometryDrawing.Brush, 1);
DrawingImage drawingImage = new DrawingImage(MyGeometryDrawing);
drawingImage.Freeze();
Image image = new Image();
image.Height = 16;
image.Width = 16;
image.Source = drawingImage;
pan.Children.Add(image);
}
TextBlock textBlock = new TextBlock();
textBlock.Text = name;
textBlock.Margin = new System.Windows.Thickness(4, 0, 0, 0);
pan.Children.Add(textBlock);
KMLFeatureTreeViewItem item = new KMLFeatureTreeViewItem()
{
Header = pan,
Feature = placemark
};
return item;
}
private void btnReadKMLPoly_Click(object sender, EventArgs e)
{
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
/* Get kml filename */
string kml_file = openFileDialog1.FileName;
if (kml_file.Contains(".kml"))
{
System.IO.TextReader stream = System.IO.File.OpenText(kml_file);
SharpKml.Engine.KmlFile file = KmlFile.Load(stream);
Kml _kml = file.Root as Kml;
SharpKml.Dom.Placemark[] tempPlaceMarks = new SharpKml.Dom.Placemark[1000];
SharpKml.Dom.Placemark tmp_placemark = new SharpKml.Dom.Placemark();
CoordinateCollection coordinates = new CoordinateCollection();
Form1.Globals.poly_point_count = 0;
if (_kml != null)
{
SharpKml.Base.Vector vector;
double lat;
double lon;
double alt;
string name = "";
foreach (var placemark in _kml.Flatten().OfType <SharpKml.Dom.Placemark>())
{
name = placemark.Name;
}
Models.Shape shape = new Models.Shape();
shape.name = name;
foreach (var linering in _kml.Flatten().OfType <LinearRing>())
{
coordinates = linering.Coordinates;
int num = coordinates.Count;
LinkedList <PolyPoint> shape_points = new LinkedList <PolyPoint>();
for (int i = 0; i < num; i++)
{
PolyPoint point = new PolyPoint();
vector = coordinates.ElementAt(i);
lat = vector.Latitude;
lon = vector.Longitude;
alt = (double)vector.Altitude;
point.lat = lat;
point.lon = lon;
point.alt = alt;
shape_points.AddLast(point);
//dgvWaypoints.Rows.Add(Globals.waypoint_count, Convert.ToString(lat), Convert.ToString(lon), Convert.ToString(30));
}
shape.points = shape_points;
shape.visible = true;
_wpg.AddShape(shape);
_gmap.Add_gMapPoly(shape, true);
}
}
}
GMAPTree.Update_GMapTree(_wpg, _treeview);
this.Close();
}
}
private static void processKML(SharpKml.Dom.Element Element)
{
try
{
// log.Info(Element.ToString() + " " + Element.Parent);
}
catch
{
}
SharpKml.Dom.Document doc = Element as SharpKml.Dom.Document;
SharpKml.Dom.Placemark pm = Element as SharpKml.Dom.Placemark;
SharpKml.Dom.Folder folder = Element as SharpKml.Dom.Folder;
SharpKml.Dom.Polygon polygon = Element as SharpKml.Dom.Polygon;
SharpKml.Dom.LineString ls = Element as SharpKml.Dom.LineString;
MultipleGeometry geom = Element as MultipleGeometry;
if (doc != null)
{
foreach (var feat in doc.Features)
{
//Console.WriteLine("feat " + feat.GetType());
//processKML((Element)feat);
}
}
else if (folder != null)
{
foreach (SharpKml.Dom.Feature feat in folder.Features)
{
//Console.WriteLine("feat "+feat.GetType());
//processKML(feat);
}
}
else if (pm != null)
{
}
else if (polygon != null)
{
GMapPolygon kmlpolygon = new GMapPolygon(new List <PointLatLng>(), polygon.Id);
kmlpolygon.Stroke.Color = Color.Purple;
kmlpolygon.Fill = new SolidBrush(Color.FromArgb(30, Color.Blue));
foreach (var loc in polygon.OuterBoundary.LinearRing.Coordinates)
{
kmlpolygon.Points.Add(new PointLatLng(loc.Latitude, loc.Longitude));
}
kmlpolygonsoverlay.Polygons.Add(kmlpolygon);
}
else if (ls != null)
{
GMapRoute kmlroute = new GMapRoute(new List <PointLatLng>(), "kmlroute");
kmlroute.Stroke.Color = Color.Purple;
foreach (var loc in ls.Coordinates)
{
kmlroute.Points.Add(new PointLatLng(loc.Latitude, loc.Longitude));
}
kmlpolygonsoverlay.Routes.Add(kmlroute);
}
else if (geom != null)
{
foreach (var geometry in geom.Geometry)
{
processKML(geometry);
}
}
}
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);
}
}
}
private void btnOutputKML_Click(object sender, EventArgs e)
{
LinkedList <WayPoints> wp_list = _path.waypoints;
int pcount = 0;
int point_count = wp_list.Count;
if (point_count > 0)
{
//double lat_center = Convert.ToDouble(txtCenterLat.Text);
//double lon_center = Convert.ToDouble(txtCenterLon.Text);
double lat, new_lat, start_lat;
double lon, new_lon, start_lon;
double image_len;
double image_wid;
image_len = (Math.Tan(GPS.DegreesToRadians(_options.focal_angle_hor / 2)) * 30.0);
image_wid = (Math.Tan(GPS.DegreesToRadians(_options.focal_angle_ver / 2)) * 30.0);
double alt;
double bear;
string location_name = txtKMLPath.Text;
string filename = txtKMLFilePath.Text;
Kml kml = new Kml();
Folder folder = new Folder();
SharpKml.Dom.Placemark placemark = new SharpKml.Dom.Placemark();
LineString linestring = new LineString();
var vector = new Vector();
CoordinateCollection coordinates = new CoordinateCollection();
Style path_style = new Style();
path_style.Polygon = new PolygonStyle();
path_style.Line = new LineStyle();
// Color32( alpha, blue, green, red
path_style.Polygon.Color = new Color32(128, 255, 255, 0);
path_style.Line.Color = new Color32(255, 255, 255, 0);
linestring.AltitudeMode = AltitudeMode.RelativeToGround;
linestring.Extrude = true;
WayPoints point = new WayPoints();
do
{
point = wp_list.ElementAt(pcount);
lat = point.lat;
lon = point.lon;
alt = point.alt;
if (!_options.units_metric)
{
alt = GPS.FeetToMeters(alt);
}
vector = new Vector(lat, lon, alt);
coordinates.Add(vector);
pcount++;
} while (pcount < point_count);
linestring.Coordinates = coordinates;
placemark.Geometry = linestring;
placemark.AddStyle(path_style);
placemark.Name = location_name;
folder.AddFeature(placemark);
// kml.Feature = placemark;
/* Generate camera rectangles */
if (chkGenCamRect.Checked)
{
//image_len = 25;
//image_wid = 50;
double diag_ang = GPS.RadiansToDegrees(Math.Atan(image_len / image_wid));
double diag_len = Math.Sqrt((image_len * image_len) + (image_wid * image_wid));
double gps_radius;
for (int i = 0; i < wp_list.Count; i++)
{
Style poly_style = new Style();
poly_style.Polygon = new PolygonStyle();
poly_style.Line = new LineStyle();
// Color32( alpha, blue, green, red
poly_style.Polygon.Color = new Color32(128, 0, 255, 255);
poly_style.Line.Color = new Color32(255, 0, 255, 255);
Kml kml_rect = new Kml();
SharpKml.Dom.Placemark rect_placemark = new SharpKml.Dom.Placemark();
Polygon poly = new Polygon();
OuterBoundary outer = new OuterBoundary();
LinearRing line = new LinearRing();
CoordinateCollection coor = new CoordinateCollection();
poly.AltitudeMode = AltitudeMode.RelativeToGround;
poly.Extrude = false;
point = wp_list.ElementAt(i);
lat = point.lat;
lon = point.lon;
alt = point.alt;
gps_radius = _options.earth_radius + _options.def_elevation + alt;
alt = 2;
bear = point.head;
coor.Clear();
new_lat = GPS.GPS_Lat_BearDist(lat, lon, diag_ang + bear, diag_len, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat, lon, new_lat, diag_ang + bear, diag_len, gps_radius);
start_lat = new_lat;
start_lon = new_lon;
vector = new Vector(new_lat, new_lon, alt);
coor.Add(vector);
new_lat = GPS.GPS_Lat_BearDist(lat, lon, 180 - diag_ang + bear, diag_len, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat, lon, new_lat, 180 - diag_ang + bear, diag_len, gps_radius);
vector = new Vector(new_lat, new_lon, alt);
coor.Add(vector);
new_lat = GPS.GPS_Lat_BearDist(lat, lon, 180 + diag_ang + bear, diag_len, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat, lon, new_lat, 180 + diag_ang + bear, diag_len, gps_radius);
vector = new Vector(new_lat, new_lon, alt);
coor.Add(vector);
new_lat = GPS.GPS_Lat_BearDist(lat, lon, 360 - diag_ang + bear, diag_len, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat, lon, new_lat, 360 - diag_ang + bear, diag_len, gps_radius);
vector = new Vector(new_lat, new_lon, alt);
coor.Add(vector);
vector = new Vector(start_lat, start_lon, alt);
coor.Add(vector);
line.Coordinates = coor;
outer.LinearRing = line;
poly.OuterBoundary = outer;
rect_placemark.Geometry = poly;
rect_placemark.AddStyle(poly_style);
rect_placemark.Name = "WP " + Convert.ToString(i);
folder.AddFeature(rect_placemark);
}
}
kml.Feature = folder;
Serializer serializer = new Serializer();
serializer.Serialize(kml);
System.IO.File.WriteAllText(filename, serializer.Xml);
}
this.Close();
}
/// <summary>
/// Converts a dictionary representing JSON layer definitions to KML.
/// </summary>
/// <param name="layers">A dictionary representing ArcGIS JSON Layers.</param>
/// <returns><see cref="Kml"/></returns>
public static Kml LayersDictionaryToKml(this Dictionary<string, object> layers)
{
var kmlDocument = new SharpKml.Dom.Document();
foreach (var kvp in layers)
{
var folder = new Folder { Name = kvp.Key };
kmlDocument.AddFeature(folder);
var graphics = kvp.Value as ArrayList;
foreach (Dictionary<string, object> graphic in graphics)
{
var placemark = new Placemark();
folder.AddFeature(placemark);
placemark.Geometry = JsonToKmlGeometry(graphic["geometry"] as Dictionary<string, object>);
var attributesJson = (Dictionary<string, object>)graphic["attributes"];
attributesJson.Remove("RouteGeometry");
placemark.ExtendedData = ToExtendedData(attributesJson);
}
}
var kml = new Kml();
kml.Feature = kmlDocument;
return kml;
}
private void btnSelectKMLFile_Click(object sender, EventArgs e)
{
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
/* Get kml filename */
string kml_file = openFileDialog1.FileName;
if (kml_file.Contains(".kml"))
{
Form1.Globals.kml_filename = kml_file;
rtbKMLRead.AppendText("KML File : " + kml_file + "\n");
rtbKMLRead.AppendText("\n");
/* Open KML File */
System.IO.TextReader stream = System.IO.File.OpenText(kml_file);
SharpKml.Engine.KmlFile file = KmlFile.Load(stream);
Kml _kml = file.Root as Kml;
SharpKml.Dom.Placemark[] tempPlaceMarks = new SharpKml.Dom.Placemark[1000];
SharpKml.Dom.Placemark tmp_placemark = new SharpKml.Dom.Placemark();
CoordinateCollection coordinates = new CoordinateCollection();
Form1.Globals.kml_point_count = 0;
//rtbKMLRead.AppendText("Waypoint Count : " + Convert.ToString(Globals.waypoint_count) + "\n");
int numOfPlaceMarks = 0;
if (_kml != null)
{
foreach (var placemark in _kml.Flatten().OfType <SharpKml.Dom.Placemark>())
{
string placename = placemark.Name;
rtbKMLRead.AppendText("Placemark Name : " + placename + "\n");
tmp_placemark.Name = placename;
numOfPlaceMarks++;
}
rtbKMLRead.AppendText("Number of Placemarks : " + Convert.ToString(numOfPlaceMarks) + "\n");
int num_linestring = 0;
SharpKml.Base.Vector vector;
double lat;
double lon;
double alt;
foreach (var linestring in _kml.Flatten().OfType <LineString>())
{
coordinates = linestring.Coordinates;
int num = coordinates.Count;
rtbKMLRead.AppendText("Num Coordinates : " + Convert.ToString(num) + "\n");
for (int i = 0; i < num; i++)
{
vector = coordinates.ElementAt(i);
lat = vector.Latitude;
lon = vector.Longitude;
alt = (double)vector.Altitude;
rtbKMLRead.AppendText("Lat/Lon : " + Convert.ToString(lat));
rtbKMLRead.AppendText(", " + Convert.ToString(lon) + "Altitude : " + Convert.ToString(alt) + "\n");
_kml_points[_kml_point_count, 0] = lat;
_kml_points[_kml_point_count, 1] = lon;
_kml_points[_kml_point_count, 2] = alt;
_kml_point_count++;
//dgvWaypoints.Rows.Add(Globals.waypoint_count, Convert.ToString(lat), Convert.ToString(lon), Convert.ToString(30));
}
num_linestring++;
}
rtbKMLRead.AppendText("Number of Linestrings : " + Convert.ToString(num_linestring) + "\n");
BuildKMLPath();
}
}
else
{
MessageBox.Show("Wrong file type!", "GPS Grid:", MessageBoxButtons.OKCancel, MessageBoxIcon.Error);
}
}
}
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 generateParcour(List <List <Vector> > listOfRoutes, List <string> ListOfRouteNames, List <List <Vector> > listOfNBL, List <string> listOfNBLNames, bool hasMarkers, bool showForbiddenArea, bool isStandardOrder, double channelWidth, double altitude, bool hasRoundedCorners)
{
string[] styleNames = { @"PolygonAndLine", @"PolygonAndLineNoFill" };
// Document document = new Document();
KMLPolygonStyle.AddStylesForPolygon(document, styleNames);
GeoData gc = new GeoData();
List <Feature> lstFeaturesPROHPolygon = new List <Feature>();
List <Feature> lstFeaturesSP = new List <Feature>();
List <Feature> lstFeaturesFP = new List <Feature>();
List <Feature> lstFeaturesNBLine = new List <Feature>();
List <Feature> lstFeaturesChannel = new List <Feature>();
Folder folderGeneral = new Folder();
folderGeneral.Name = "General";
Folder folderTKOFLines = new Folder();
folderTKOFLines.Name = "TakeOffLines";
// add a description
SharpKml.Dom.Description descr = new SharpKml.Dom.Description();
descr.Text = "Add manually one or multiple take-off line(s) for your airfield<br/>into this folder for later use/import. Read more...<br/><b>Naming convention:</b>Take-off line names must start with the word <b>TKOF</b>.<br/><b>Examples:</b>TKOF_RWY21, TKOF_WEST";
folderTKOFLines.Description = descr;
folderGeneral.AddFeature(folderTKOFLines);
Folder folderLiveTracking = new Folder();
folderLiveTracking.Name = "LiveTracking";
// folderLiveTracking.Description = "This folder can be used for LiveTracking. Andjust the PROH areas manually.</br> Then (using a text editor) set 'clampToGround' to 'relativeToGround'.</br>";
List <Vector> lstOldRightBorder = new List <Vector>();
for (int j = 0; j < listOfRoutes.Count(); j++)
{
List <Vector> routePoints = listOfRoutes[j];
List <Vector> lstOrigNBLine = new List <Vector>();
Vector NBLPointOnRoute = new Vector();
string routeName = ListOfRouteNames[j];
Folder folderBorders = new Folder();
folderBorders.Name = routeName + "_RouteBorders";
// calculate headings and left/right borders
List <double> lstHeadings = gc.CalculateHeadings(routePoints);
List <Vector> lstLeftBorder = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth, false, 1, hasRoundedCorners);
List <Vector> lstRightBorder = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth, true, 1, hasRoundedCorners);
List <Vector> lstRightBorderMod = lstRightBorder; // used in PROH area calcs
List <Vector> lstChannel = combineBorderVectorsForPolygon(lstLeftBorder, lstRightBorder);
if (lstChannel.Count > 1)
{ // remove duplicate point at the end
lstChannel.RemoveAt(lstChannel.Count - 1);
}
setAltitude(lstChannel, altitude);
// shift start and end points of border inwards
lstLeftBorder = gc.BorderModification(lstLeftBorder, SHIFT_DIST);
lstRightBorder = gc.BorderModification(lstRightBorder, SHIFT_DIST);
// calculate the gate points for start and end point gate. Fixed width 0.6 NM
// we will use later on only the first two/ last two points
List <Vector> lstGateLeft = gc.CalculateCurvePoint(routePoints, lstHeadings, GATE_WIDTH, false, 1, false);
List <Vector> lstGateRight = gc.CalculateCurvePoint(routePoints, lstHeadings, GATE_WIDTH, true, 1, false);
// SP line and FP line (use first/last points of left/right borders)
List <Vector> lstSP, lstFP, lstNBLine;
lstSP = new List <Vector>();
lstSP.Add(new Vector(lstGateRight[0].Latitude, lstGateRight[0].Longitude, altitude));
lstSP.Add(new Vector(lstGateLeft[0].Latitude, lstGateLeft[0].Longitude, altitude));
lstFP = new List <Vector>();
lstFP.Add(new Vector(lstGateRight[lstGateRight.Count - 1].Latitude, lstGateRight[lstGateRight.Count - 1].Longitude, altitude));
lstFP.Add(new Vector(lstGateLeft[lstGateLeft.Count - 1].Latitude, lstGateLeft[lstGateLeft.Count - 1].Longitude, altitude));
lstNBLine = new List <Vector>();
// check if we have a NBLINE for this route
if (listOfNBLNames.IndexOf(String.Format("NBLINE-{0}", routeName)) >= 0)
{
int idx = listOfNBLNames.IndexOf(String.Format("NBLINE-{0}", routeName));
int idxRoutePointBeforeNBL = -1;
lstOrigNBLine = listOfNBL[idx];
NBLPointOnRoute = gc.NBLPointOnRouteLine(routePoints, lstOrigNBLine, out idxRoutePointBeforeNBL);
if (idxRoutePointBeforeNBL > -1)
{
List <Vector> lstNBLSegm = new List <Vector>();
// create a short segment with the NBL point on the route line, and the first route point after the NBL point
lstNBLSegm.Add(NBLPointOnRoute);
lstNBLSegm.Add(routePoints[idxRoutePointBeforeNBL + 1]);
// calculate borders
List <double> lstNBLHdg = gc.CalculateHeadings(lstNBLSegm);
List <Vector> lstNBLGateLeft = gc.CalculateCurvePoint(lstNBLSegm, lstNBLHdg, channelWidth, false, 1, false);
List <Vector> lstNBLGateRight = gc.CalculateCurvePoint(lstNBLSegm, lstNBLHdg, channelWidth, true, 1, false);
lstNBLine.Clear();
lstNBLine.Add(new Vector(lstNBLGateRight[0].Latitude, lstNBLGateRight[0].Longitude, altitude));
lstNBLine.Add(new Vector(lstNBLGateLeft[0].Latitude, lstNBLGateLeft[0].Longitude, altitude));
}
}
List <Vector> lstLeftBorderForbiddenArea = new List <Vector>();
List <Vector> lstRightBorderForbiddenArea = new List <Vector>();
if (isStandardOrder)
{
if (j == 0)
{
// calculate LeftBorder PROH for first route
List <Vector> lstLeftBorderPROH = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth * 10, false, 1, false);
//TODO: add Gate Point as first/last point to lstLeftBorderPROH
lstLeftBorderPROH.Insert(0, lstGateLeft[0]);
lstLeftBorderPROH.Add(lstGateLeft[lstGateLeft.Count - 1]);
lstLeftBorderForbiddenArea = combineBorderVectorsForPolygon(lstLeftBorderPROH, lstLeftBorder);
setAltitude(lstLeftBorderForbiddenArea, altitude);
//TODO: add Gate Point as first/last point to lstRightBorderMod
lstRightBorderMod.Add(lstGateRight[0]);
lstRightBorderMod.Insert(0, lstGateRight[lstGateRight.Count - 1]);
}
else
{
// calculate LeftBorder PROH area from LeftBorder[j] and RightBorder[j-1]
lstOldRightBorder.Add(lstGateLeft[0]);
lstOldRightBorder.Insert(0, lstGateLeft[lstGateLeft.Count - 1]);
lstLeftBorderForbiddenArea = combineBorderVectorsForPolygon(lstOldRightBorder, lstLeftBorder);
setAltitude(lstLeftBorderForbiddenArea, altitude);
}
// for the last route, also calculate right border PROH
if (j == listOfRoutes.Count - 1)
{
List <Vector> lstRightBorderPROH = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth * 10, true, 1, false);
//TODO: add Gate Point as first/last point to lstRightBorderPROH
lstRightBorderPROH.Insert(0, lstGateRight[0]);
lstRightBorderPROH.Add(lstGateRight[lstGateRight.Count - 1]);
lstRightBorderForbiddenArea = combineBorderVectorsForPolygon(lstRightBorderPROH, lstRightBorder);
setAltitude(lstRightBorderForbiddenArea, altitude);
}
}
else
{ // not standard order, calculate right and left PROH areas for each channel
List <Vector> lstLeftBorderPROH = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth * 10, false, 1, false);
List <Vector> lstRightBorderPROH = gc.CalculateCurvePoint(routePoints, lstHeadings, channelWidth * 10, true, 1, false);
lstLeftBorderForbiddenArea = combineBorderVectorsForPolygon(lstLeftBorderPROH, lstLeftBorder);
lstRightBorderForbiddenArea = combineBorderVectorsForPolygon(lstRightBorderPROH, lstRightBorder);
setAltitude(lstLeftBorderForbiddenArea, altitude);
setAltitude(lstRightBorderForbiddenArea, altitude);
}
lstOldRightBorder = lstRightBorderMod;
#region Creation of KML objects
var lineStrRoute = new SharpKml.Dom.LineString();
var lineStrRightBorder = new SharpKml.Dom.LineString();
var lineStrLeftBorder = new SharpKml.Dom.LineString();
var lineStrSP = new SharpKml.Dom.LineString();
var lineStrFP = new SharpKml.Dom.LineString();
var lineStrNBLine = new SharpKml.Dom.LineString();
var lineStrOrigNBLine = new SharpKml.Dom.LineString();
var lineStrChannel = new SharpKml.Dom.LineString();
lineStrRoute.Coordinates = new CoordinateCollection(routePoints);
lineStrRoute.Tessellate = true;
lineStrRightBorder.Coordinates = new CoordinateCollection(lstRightBorder);
lineStrLeftBorder.Coordinates = new CoordinateCollection(lstLeftBorder);
lineStrSP.Coordinates = new CoordinateCollection(lstSP);
lineStrFP.Coordinates = new CoordinateCollection(lstFP);
lineStrNBLine.Coordinates = new CoordinateCollection(lstNBLine);
lineStrOrigNBLine.Coordinates = new CoordinateCollection(lstOrigNBLine);
lineStrChannel.Coordinates = new CoordinateCollection(lstChannel);
var polygLeftBorderForbiddenArea = makeSimplePolygon(lstLeftBorderForbiddenArea, AltitudeMode.ClampToGround);
var polygRightBorderForbiddenArea = makeSimplePolygon(lstRightBorderForbiddenArea, AltitudeMode.ClampToGround);
var polySP = makeSimplePolygon(lineStrSP, AltitudeMode.RelativeToGround);
var polyFP = makeSimplePolygon(lineStrFP, AltitudeMode.RelativeToGround);
var polyChannel = makeSimplePolygon(lineStrChannel, AltitudeMode.ClampToGround);
var polyNBLine = new Polygon();
if (lstNBLine.Count > 0)
{
polyNBLine = makeSimplePolygon(lineStrNBLine, AltitudeMode.RelativeToGround);
}
// Route itself
var plm = new SharpKml.Dom.Placemark();
plm = makeSimplePlacemark(lineStrRoute, routeName);
folderGeneral.AddFeature(plm);
plm = makeSimplePlacemark(polyChannel, "CHANNEL-" + routeName, styleNames[1]);
lstFeaturesChannel.Add(plm);
// original hand-made NBLine
if (lstNBLine.Count > 0)
{
plm = new SharpKml.Dom.Placemark();
plm = makeSimplePlacemark(lineStrOrigNBLine, "NBLINE-" + routeName + " (orig)");
folderGeneral.AddFeature(plm);
}
// Right border line
plm = makeSimplePlacemark(lineStrRightBorder, routeName + "_RightBorder");
folderBorders.AddFeature(plm);
// Left border line
plm = makeSimplePlacemark(lineStrLeftBorder, routeName + "_LeftBorder");
folderBorders.AddFeature(plm);
// SP line
plm = makeSimplePlacemark(lineStrSP, "STARTPOINT-" + routeName);
folderBorders.AddFeature(plm);
// FP line
plm = makeSimplePlacemark(lineStrFP, "ENDPOINT-" + routeName);
folderBorders.AddFeature(plm);
// calculated NB line
if (lstNBLine.Count > 0)
{
plm = makeSimplePlacemark(lineStrNBLine, "NBLINE-" + routeName);
folderBorders.AddFeature(plm);
}
plm = makeSimplePlacemark(polySP, "STARTPOINT-" + routeName, styleNames[0]);
lstFeaturesSP.Add(plm);
plm = makeSimplePlacemark(polyFP, "ENDPOINT-" + routeName, styleNames[0]);
lstFeaturesFP.Add(plm);
if (lstNBLine.Count > 0)
{
plm = makeSimplePlacemark(polyNBLine, "NBLINE-" + routeName, styleNames[0]);
lstFeaturesNBLine.Add(plm);
}
folderGeneral.AddFeature(folderBorders);
if (showForbiddenArea)
{
//Folder folder = new Folder();
//folder.Name = "PROH-Areas " + routeName;
// add forbidden Area (Polygon area)
if (lstRightBorderForbiddenArea.Count > 0)
{
var placemarkPolyg = makeSimplePlacemark(polygRightBorderForbiddenArea, "PROH " + routeName + " Right", styleNames[0]);
lstFeaturesPROHPolygon.Add(placemarkPolyg);
}
if (lstLeftBorderForbiddenArea.Count > 0)
{
var placemarkPolyg = makeSimplePlacemark(polygLeftBorderForbiddenArea, "PROH " + routeName + " Left", styleNames[0]);
lstFeaturesPROHPolygon.Add(placemarkPolyg);
}
}
if (hasMarkers)
{
// OPTIONAL: add markers if required for all route points
Folder folder = new Folder();
folder.Name = routeName + "_RouteMarkers";
for (int i = 0; i < routePoints.Count; i++)
{
Placemark pm = new Placemark();
SharpKml.Dom.Point pt = new SharpKml.Dom.Point();
pt.Coordinate = new Vector(routePoints[i].Latitude, routePoints[i].Longitude);
pm.Geometry = pt;
pm.Name = String.Format("TP_{0}_{1}", i.ToString().PadLeft(2, '0'), routeName);
if (i == 0)
{
pm.Name = String.Format("SP_{0}", routeName);
}
if (i == routePoints.Count - 1)
{
pm.Name = String.Format("FP_{0}", routeName);
}
folder.AddFeature(pm);
}
if (lstNBLine.Count > 0)
{
Placemark pm = new Placemark();
SharpKml.Dom.Point pt = new SharpKml.Dom.Point();
pt.Coordinate = new Vector(NBLPointOnRoute.Latitude, NBLPointOnRoute.Longitude);
pm.Geometry = pt;
pm.Name = String.Format("NBLINE_{0}", routeName);
folder.AddFeature(pm);
}
folderGeneral.AddFeature(folder);
}
#endregion
}
#region Create Kml document
for (int i = 0; i < lstFeaturesPROHPolygon.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesPROHPolygon[i].Clone());
}
for (int i = 0; i < lstFeaturesSP.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesSP[i].Clone());
}
for (int i = 0; i < lstFeaturesFP.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesFP[i].Clone());
}
for (int i = 0; i < lstFeaturesChannel.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesChannel[i].Clone());
}
for (int i = 0; i < lstFeaturesNBLine.Count; i++)
{
folderLiveTracking.AddFeature(lstFeaturesNBLine[i].Clone());
}
document.AddFeature(folderGeneral);
document.AddFeature(folderLiveTracking);
#endregion
}
protected void GenerateKml()
{
var id = Convert.ToInt32(Server.HtmlEncode(Request.QueryString["Code"]));
var document = new Document();
document.Id = "Document";
document.Name = "Document";
Description dsc = new Description();
dsc.Text = @"<h1>Car's Tracking</h1> ";
CoordinateCollection coordinates = new CoordinateCollection();
DataTable dt = new DataTable();
try
{
DataSet ds = FieldAreaViewMethof.getfieldAreaValue(id);
dt = ds.Tables[0];
string isreference = ds.Tables[0].Rows[0]["isReferencePoint"].ToString();
if (isreference == "True")
{
dt.Rows[0].Delete();
}
foreach (DataRow dr in dt.Rows)
{
double lon = double.Parse(ParseDMS(dr["Longitude"].ToString()).ToString());
double lat = double.Parse(ParseDMS(dr["Latitude"].ToString()).ToString());
coordinates.Add(new Vector(lat, lon, 0));
}
OuterBoundary outerBoundary = new OuterBoundary();
outerBoundary.LinearRing = new LinearRing();
outerBoundary.LinearRing.Coordinates = coordinates;
// Polygon Setting:
Polygon polygon = new Polygon();
polygon.Extrude = true;
polygon.AltitudeMode = AltitudeMode.ClampToGround;
polygon.OuterBoundary = outerBoundary;
//Color Style Setting:
byte byte_Color_R = 150, byte_Color_G = 150, byte_Color_B = 150, byte_Color_A = 100; //you may get your own color by other method
var style = new SharpKml.Dom.Style();
style.Polygon = new PolygonStyle();
style.Polygon.ColorMode = SharpKml.Dom.ColorMode.Normal;
style.Polygon.Color = new Color32(byte_Color_A, byte_Color_B, byte_Color_G, byte_Color_R);
//Set the polygon and style to the Placemark:
Placemark placemark = new Placemark();
placemark.Name = "Kukrail";
placemark.Geometry = polygon;
placemark.AddStyle(style);
//Finally to the document and save it
document.AddFeature(placemark);
var kml = new Kml();
kml.Feature = document;
KmlFile kmlFile = KmlFile.Create(kml, true);
if (File.Exists(Server.MapPath("~") + "MAP.kml"))
{
File.Delete(Server.MapPath("~") + "MAP.kml");
}
using (var stream = System.IO.File.OpenWrite(Server.MapPath("~") + "MAP.kml"))
{
kmlFile.Save(stream);
}
}
catch (Exception exc)
{
Response.Write(exc.Message);
}
finally
{
}
}
private static Feature CreateFeature(int index, bool id)
{
Feature output;
int type = index % 7;
switch (type)
{
case 0:
output = new Placemark();
break;
case 1:
output = new Folder();
break;
case 2:
output = new Document();
break;
case 3:
output = new NetworkLink();
break;
case 4:
output = new GroundOverlay();
break;
case 5:
output = new ScreenOverlay();
break;
default:
output = new PhotoOverlay();
break;
}
if (id)
{
output.Id = "i" + index;
}
else
{
output.TargetId = "i" + index;
}
return output;
}
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");
}
}
private void addReference(Placemark placemark, SharpKml.Dom.Point point, DbGeography coordinates)
{
LANDMARK landmark = new LANDMARK();
LANDMARK_KNOWN_AS knowAsLandmark;
knowAsLandmark = new LANDMARK_KNOWN_AS();
knowAsLandmark.Known_As_Description = placemark.Name;
landmark.Landmark_Coordinates = coordinates;
knowAsLandmark.LANDMARK = landmark;
knowAsLandmark.Known_As_ID = count = count + 1;
DBLandmarkKnownAs db = new DBLandmarkKnownAs(context);
db.Add(knowAsLandmark);
if (placemark.Description != null)
{
string[] description = placemark.Description.Text.Split(';');
for (int i = 0; i < description.Count(); i++)
{
knowAsLandmark = new LANDMARK_KNOWN_AS();
knowAsLandmark.Known_As_Description = description[i];
landmark.Landmark_Coordinates = coordinates;
knowAsLandmark.Known_As_ID = count = count + 1;
knowAsLandmark.LANDMARK = landmark;
db = new DBLandmarkKnownAs(context);
db.Add(knowAsLandmark);
}
}
}
