public static void MapLogs(string[] logs)
{
foreach (var logfile in logs)
{
if (File.Exists(logfile + ".jpg"))
{
continue;
}
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
List <PointLatLngAlt> locs = new List <PointLatLngAlt>();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
MAVLinkInterface mine = new MAVLinkInterface();
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
if (packet.Length < 5)
{
continue;
}
try
{
if (MainV2.speechEngine != null)
{
MainV2.speechEngine.SpeakAsyncCancelAll();
}
}
catch { }
if (packet[5] == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ByteArrayToStructure <MAVLink.mavlink_global_position_int_t>(6);
if (loc.lat == 0 || loc.lon == 0)
{
continue;
}
locs.Add(new PointLatLngAlt(loc.lat / 10000000.0f, loc.lon / 10000000.0f));
minx = Math.Min(minx, loc.lon / 10000000.0f);
maxx = Math.Max(maxx, loc.lon / 10000000.0f);
miny = Math.Min(miny, loc.lat / 10000000.0f);
maxy = Math.Max(maxy, loc.lat / 10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
bool bin = logfile.ToLower().EndsWith(".bin");
using (var st = File.OpenRead(logfile))
{
using (StreamReader sr = new StreamReader(st))
{
while (sr.BaseStream.Position < sr.BaseStream.Length)
{
string line = "";
if (bin)
{
line = BinaryLog.ReadMessage(sr.BaseStream);
}
else
{
line = sr.ReadLine();
}
if (line.StartsWith("FMT"))
{
DFLog.FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
var item = DFLog.GetDFItemFromLine(line, 0);
var lat = double.Parse(item.items[DFLog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[DFLog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0)
{
continue;
}
locs.Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
}
if (locs.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
PointF lastpoint = new PointF();
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
{
grap.DrawLine(Pens.Red, lastpoint, newpoint);
}
lastpoint = newpoint;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
{
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
}
continue;
}
}
}
public void processLine(string line)
{
try
{
if (line.Length == 0)
{
return;
}
string[] items = line.Split(',', ':');
if (items[0].Contains("FMT"))
{
try
{
dflog.FMTLine(line);
}
catch
{
}
}
if (items[0].Contains("PARM"))
{
try
{
int nameindex = dflog.FindMessageOffset("PARM", "Name");
int valueindex = dflog.FindMessageOffset("PARM", "Value");
paramlist[items[nameindex].Trim()] = items[valueindex].Trim();
} catch
{
}
}
else if (items[0].Contains("CMD")) // "CMD", "QHHHfffffff","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \
{
cmdraw.Add(line);
int cidindex = dflog.FindMessageOffset("CMD", "CId");
if (int.Parse(items[cidindex]) <= (int)MAVLink.MAV_CMD.LAST) // wps
{
int cmdflatindex = dflog.FindMessageOffset("CMD", "Lat");
int cmdlngindex = dflog.FindMessageOffset("CMD", "Lng");
int cmdaltindex = dflog.FindMessageOffset("CMD", "Alt");
int cmdnumindex = dflog.FindMessageOffset("CMD", "CNum");
cmd.Add(new PointLatLngAlt(
double.Parse(items[cmdflatindex], CultureInfo.InvariantCulture),
double.Parse(items[cmdlngindex], CultureInfo.InvariantCulture),
double.Parse(items[cmdaltindex], CultureInfo.InvariantCulture), items[cmdnumindex]));
}
}
else if (items[0].Contains("MOD"))
{
positionindex++;
while (modelist.Count < positionindex + 1)
{
modelist.Add("");
}
int nameindex = dflog.FindMessageOffset("MODE", "Mode");
if (nameindex > 0)
{
modelist[positionindex] = items[nameindex];
}
else
{
if (items.Length == 4)
{
modelist[positionindex] = (items[2]);
}
else
{
modelist[positionindex] = (items[1]);
}
}
}
else if (items[0].Contains("GPS") && dflog.logformat.ContainsKey("GPS"))
{
if (items[0].Contains("GPS2"))
{
return;
}
if (int.Parse(items[dflog.FindMessageOffset("GPS", "Status")]) < 3)
{
return;
}
if (position[positionindex] == null)
{
position[positionindex] = new List <Point3D>();
}
double alt = double.Parse(items[dflog.FindMessageOffset("GPS", "Alt")], CultureInfo.InvariantCulture);
if (alt > 40000)
{
return;
}
double lng = double.Parse(items[dflog.FindMessageOffset("GPS", "Lng")], CultureInfo.InvariantCulture);
double lat = double.Parse(items[dflog.FindMessageOffset("GPS", "Lat")], CultureInfo.InvariantCulture);
if (lat < -90 || lat > 90)
{
return;
}
if (lng < -180 || lng > 180)
{
return;
}
position[positionindex].Add(new Point3D(lng, lat, alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
else if (items[0].Contains("POS"))
{
if (dflog.logformat.ContainsKey("POS"))
{
int poslatindex = dflog.FindMessageOffset("POS", "Lat");
int poslngindex = dflog.FindMessageOffset("POS", "Lng");
int posaltindex = dflog.FindMessageOffset("POS", "Alt");
PosLatLngAlts.Add(
new PointLatLngAlt(
double.Parse(items[poslatindex], CultureInfo.InvariantCulture),
double.Parse(items[poslngindex], CultureInfo.InvariantCulture),
double.Parse(items[posaltindex], CultureInfo.InvariantCulture)));
}
}
else if (items[0].Contains("GRAW"))
{
gpsrawdata.Add(line);
}
else if (items[0].Contains("GRXH"))
{
gpsrawdata.Add(line);
}
else if (items[0].Contains("GRXS"))
{
gpsrawdata.Add(line);
}
else if (items[0].Contains("CTUN"))
{
ctunlast = items;
}
else if (items[0].Contains("NTUN"))
{
ntunlast = items;
try
{
// line = "ATT:" + double.Parse(ctunlast[3], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(ctunlast[6], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(items[1], new System.Globalization.CultureInfo("en-US")) * 100;
// items = line.Split(',', ':');
}
catch
{
}
}
else if (items[0].Contains("ATT"))
{
try
{
if (lastpos.X != 0 && oldlastpos.X != lastpos.X && oldlastpos.Y != lastpos.Y)
{
Data dat = new Data();
try
{
dat.datetime = dflog.GetTimeGPS(lastline);
}
catch
{
}
runmodel = new Model();
runmodel.Location.longitude = lastpos.X;
runmodel.Location.latitude = lastpos.Y;
runmodel.Location.altitude = lastpos.Z;
oldlastpos = lastpos;
runmodel.Orientation.roll =
double.Parse(items[dflog.FindMessageOffset("ATT", "Roll")], CultureInfo.InvariantCulture) / -1;
runmodel.Orientation.tilt =
double.Parse(items[dflog.FindMessageOffset("ATT", "Pitch")], CultureInfo.InvariantCulture) / -1;
runmodel.Orientation.heading =
double.Parse(items[dflog.FindMessageOffset("ATT", "Yaw")], CultureInfo.InvariantCulture) / 1;
dat.model = runmodel;
dat.ctun = ctunlast;
dat.ntun = ntunlast;
flightdata.Add(dat);
}
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
catch (Exception)
{
// if items is to short or parse fails.. ignore
}
}
public static void MapLogs(string[] logs)
{
foreach (var logfile in logs)
{
if (File.Exists(logfile + ".jpg"))
continue;
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
List<PointLatLngAlt> locs = new List<PointLatLngAlt>();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite)))
{
mine.logreadmode = true;
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
if (packet.Length < 5)
continue;
try
{
if (MainV2.speechEngine != null)
MainV2.speechEngine.SpeakAsyncCancelAll();
}
catch { }
if (packet[5] == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ByteArrayToStructure<MAVLink.mavlink_global_position_int_t>(6);
if (loc.lat == 0 || loc.lon == 0)
continue;
locs.Add(new PointLatLngAlt(loc.lat / 10000000.0f, loc.lon / 10000000.0f));
minx = Math.Min(minx, loc.lon / 10000000.0f);
maxx = Math.Max(maxx, loc.lon / 10000000.0f);
miny = Math.Min(miny, loc.lat / 10000000.0f);
maxy = Math.Max(maxy, loc.lat / 10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
bool bin = logfile.ToLower().EndsWith(".bin");
BinaryLog binlog = new BinaryLog();
DFLog dflog = new DFLog();
using (var st = File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
{
using (StreamReader sr = new StreamReader(st))
{
while (sr.BaseStream.Position < sr.BaseStream.Length)
{
string line = "";
if (bin)
{
line = binlog.ReadMessage(sr.BaseStream);
}
else
{
line = sr.ReadLine();
}
if (line.StartsWith("FMT"))
{
dflog.FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
var item = dflog.GetDFItemFromLine(line, 0);
var lat = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0)
continue;
locs.Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
}
if (locs.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
PointF lastpoint = new PointF();
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
grap.DrawLine(Pens.Red, lastpoint, newpoint);
lastpoint = newpoint;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
continue;
}
}
}
public void processLine(string line)
{
try
{
if (doevent.Second != DateTime.Now.Second)
{
Application.DoEvents();
doevent = DateTime.Now;
}
if (line.Length == 0)
{
return;
}
DateTime start = DateTime.Now;
if (line.ToLower().Contains("ArduCopter"))
{
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduCopter2;
}
if (line.ToLower().Contains("ArduPlane"))
{
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
}
if (line.ToLower().Contains("ArduRover"))
{
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduRover;
}
line = line.Replace(", ", ",");
line = line.Replace(": ", ":");
string[] items = line.Split(',', ':');
if (items[0].Contains("FMT"))
{
try
{
DFLog.FMTLine(line);
}
catch { }
}
else if (items[0].Contains("CMD"))
{
if (flightdata.Count == 0)
{
if (int.Parse(items[3]) <= (int)MAVLink.MAV_CMD.LAST) // wps
{
PointLatLngAlt temp = new PointLatLngAlt(double.Parse(items[7], new System.Globalization.CultureInfo("en-US")), double.Parse(items[8], new System.Globalization.CultureInfo("en-US")), double.Parse(items[6], new System.Globalization.CultureInfo("en-US")), items[2].ToString());
cmd.Add(temp);
}
}
}
else if (items[0].Contains("MOD"))
{
positionindex++;
while (modelist.Count < positionindex + 1)
{
modelist.Add("");
}
if (items.Length == 4)
{
modelist[positionindex] = (items[2]);
}
else
{
modelist[positionindex] = (items[1]);
}
}
else if (items[0].Contains("GPS") && DFLog.logformat.ContainsKey("GPS"))
{
if (items[0].Contains("GPS2"))
{
return;
}
if (items[DFLog.FindMessageOffset("GPS", "Status")] != "3")
{
return;
}
if (position[positionindex] == null)
{
position[positionindex] = new List <Point3D>();
}
// if (double.Parse(items[4], new System.Globalization.CultureInfo("en-US")) == 0)
// return;
// 7 agl
// 8 asl...
double alt = double.Parse(items[DFLog.FindMessageOffset("GPS", "Alt")], new System.Globalization.CultureInfo("en-US"));
position[positionindex].Add(new Point3D(double.Parse(items[DFLog.FindMessageOffset("GPS", "Lng")],
new System.Globalization.CultureInfo("en-US")),
double.Parse(items[DFLog.FindMessageOffset("GPS", "Lat")],
new System.Globalization.CultureInfo("en-US")), alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
else if (items[0].Contains("GPS") && items[2] == "1" && items[4] != "0" && items[4] != "-1" && lastline != line) // check gps line and fixed status
{
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
if (position[positionindex] == null)
{
position[positionindex] = new List <Point3D>();
}
if (double.Parse(items[4], new System.Globalization.CultureInfo("en-US")) == 0)
{
return;
}
double alt = double.Parse(items[6], new System.Globalization.CultureInfo("en-US"));
if (items.Length == 11 && items[6] == "0.0000")
{
alt = double.Parse(items[7], new System.Globalization.CultureInfo("en-US"));
}
if (items.Length == 11 && items[6] == "0")
{
alt = double.Parse(items[7], new System.Globalization.CultureInfo("en-US"));
}
position[positionindex].Add(new Point3D(double.Parse(items[5], new System.Globalization.CultureInfo("en-US")), double.Parse(items[4], new System.Globalization.CultureInfo("en-US")), alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
else if (items[0].Contains("GPS") && items[4] != "0" && items[4] != "-1" && items.Length <= 9) // AC
{
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduCopter2;
if (position[positionindex] == null)
{
position[positionindex] = new List <Point3D>();
}
if (double.Parse(items[4], new System.Globalization.CultureInfo("en-US")) == 0)
{
return;
}
double alt = double.Parse(items[5], new System.Globalization.CultureInfo("en-US"));
position[positionindex].Add(new Point3D(double.Parse(items[4], new System.Globalization.CultureInfo("en-US")), double.Parse(items[3], new System.Globalization.CultureInfo("en-US")), alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
else if ((items[0].Contains("GPS") && items[1] == "3" && items[6] != "0" && items[6] != "-1" && lastline != line && items.Length == 12) ||
(items[0].Contains("GPS") && items[1] == "3" && items[6] != "0" && items[6] != "-1" && lastline != line && items.Length == 14))
{
if (position[positionindex] == null)
{
position[positionindex] = new List <Point3D>();
}
// if (double.Parse(items[4], new System.Globalization.CultureInfo("en-US")) == 0)
// return;
// 8 agl
// 9 asl...
double alt = double.Parse(items[9], new System.Globalization.CultureInfo("en-US"));
position[positionindex].Add(new Point3D(double.Parse(items[7], new System.Globalization.CultureInfo("en-US")), double.Parse(items[6], new System.Globalization.CultureInfo("en-US")), alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
else if (items[0].Contains("GPS") && items[1] == "3" && items[4] != "0" && items[4] != "-1" && lastline != line && items.Length == 11) // check gps line and fixed status
{
if (position[positionindex] == null)
{
position[positionindex] = new List <Point3D>();
}
// if (double.Parse(items[4], new System.Globalization.CultureInfo("en-US")) == 0)
// return;
// 7 agl
// 8 asl...
double alt = double.Parse(items[8], new System.Globalization.CultureInfo("en-US"));
position[positionindex].Add(new Point3D(double.Parse(items[6], new System.Globalization.CultureInfo("en-US")), double.Parse(items[5], new System.Globalization.CultureInfo("en-US")), alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
else if (items[0].Contains("GRAW"))
{
gpsrawdata.Add(line);
}
else if (items[0].Contains("CTUN"))
{
ctunlast = items;
}
else if (items[0].Contains("NTUN"))
{
ntunlast = items;
try
{
// line = "ATT:" + double.Parse(ctunlast[3], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(ctunlast[6], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(items[1], new System.Globalization.CultureInfo("en-US")) * 100;
// items = line.Split(',', ':');
}
catch { }
}
else if (items[0].Contains("ATT"))
{
try
{
if (lastpos.X != 0 && oldlastpos.X != lastpos.X && oldlastpos.Y != lastpos.Y)
{
Data dat = new Data();
try
{
dat.datetime = DFLog.GetTimeGPS(lastline);
}
catch { }
runmodel = new Model();
runmodel.Location.longitude = lastpos.X;
runmodel.Location.latitude = lastpos.Y;
runmodel.Location.altitude = lastpos.Z;
oldlastpos = lastpos;
runmodel.Orientation.roll = double.Parse(items[DFLog.FindMessageOffset("ATT", "Roll")], new System.Globalization.CultureInfo("en-US")) / -1;
runmodel.Orientation.tilt = double.Parse(items[DFLog.FindMessageOffset("ATT", "Pitch")], new System.Globalization.CultureInfo("en-US")) / -1;
runmodel.Orientation.heading = double.Parse(items[DFLog.FindMessageOffset("ATT", "Yaw")], new System.Globalization.CultureInfo("en-US")) / 1;
dat.model = runmodel;
dat.ctun = ctunlast;
dat.ntun = ntunlast;
flightdata.Add(dat);
}
}
catch (Exception ex) { log.Error(ex); }
}
if ((DateTime.Now - start).TotalMilliseconds > 5)
{
Console.WriteLine(line);
}
}
catch (Exception)
{
// if items is to short or parse fails.. ignore
}
}
public static void MapLogs(string[] logs)
{
foreach (var logfile in logs)
{
if (File.Exists(logfile + ".jpg"))
{
continue;
}
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
Dictionary <int, List <PointLatLngAlt> > loc_list = new Dictionary <int, List <PointLatLngAlt> >();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
)
{
mine.logreadmode = true;
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
if (packet.Length < 5)
{
continue;
}
try
{
if (MainV2.speechEngine != null)
{
MainV2.speechEngine.SpeakAsyncCancelAll();
}
}
catch
{
}
if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ToStructure <MAVLink.mavlink_global_position_int_t>();
if (loc.lat == 0 || loc.lon == 0)
{
continue;
}
var id = MAVList.GetID(packet.sysid, packet.compid);
if (!loc_list.ContainsKey(id))
{
loc_list[id] = new List <PointLatLngAlt>();
}
loc_list[id].Add(new PointLatLngAlt(loc.lat / 10000000.0f, loc.lon / 10000000.0f));
minx = Math.Min(minx, loc.lon / 10000000.0f);
maxx = Math.Max(maxx, loc.lon / 10000000.0f);
miny = Math.Min(miny, loc.lat / 10000000.0f);
maxy = Math.Max(maxy, loc.lat / 10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
bool bin = logfile.ToLower().EndsWith(".bin");
BinaryLog binlog = new BinaryLog();
DFLog dflog = new DFLog();
using (var st = File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
{
using (StreamReader sr = new StreamReader(st))
{
loc_list[0] = new List <PointLatLngAlt>();
while (sr.BaseStream.Position < sr.BaseStream.Length)
{
string line = "";
if (bin)
{
line = binlog.ReadMessage(sr.BaseStream);
}
else
{
line = sr.ReadLine();
}
if (line.StartsWith("FMT"))
{
dflog.FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
var item = dflog.GetDFItemFromLine(line, 0);
var lat = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0)
{
continue;
}
loc_list[0].Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
}
if (loc_list.First().Value.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
Color[] colours =
{
Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo,
Color.Violet, Color.Pink
};
int a = 0;
foreach (var locs in loc_list.Values)
{
PointF lastpoint = new PointF();
var pen = new Pen(colours[a % (colours.Length - 1)]);
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
{
grap.DrawLine(pen, lastpoint, newpoint);
}
lastpoint = newpoint;
}
a++;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
{
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
}
continue;
}
}
}
public static void MapLogs(string[] logs)
{
foreach (var logfile in logs)
{
if (File.Exists(logfile + ".jpg"))
continue;
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
bool sitl = false;
Dictionary<int,List<PointLatLngAlt>> loc_list = new Dictionary<int, List<PointLatLngAlt>>();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
)
{
mine.logreadmode = true;
mine.speechenabled = false;
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
if (packet.Length < 5)
continue;
if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.SIM_STATE || packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.SIMSTATE)
{
sitl = true;
}
if (packet.msgid == (byte) MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ToStructure<MAVLink.mavlink_global_position_int_t>();
if (loc.lat == 0 || loc.lon == 0)
continue;
var id = MAVList.GetID(packet.sysid, packet.compid);
if (!loc_list.ContainsKey(id))
loc_list[id] = new List<PointLatLngAlt>();
loc_list[id].Add(new PointLatLngAlt(loc.lat/10000000.0f, loc.lon/10000000.0f));
minx = Math.Min(minx, loc.lon/10000000.0f);
maxx = Math.Max(maxx, loc.lon/10000000.0f);
miny = Math.Min(miny, loc.lat/10000000.0f);
maxy = Math.Max(maxy, loc.lat/10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
bool bin = logfile.ToLower().EndsWith(".bin");
BinaryLog binlog = new BinaryLog();
DFLog dflog = new DFLog();
using (var st = File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
{
using (StreamReader sr = new StreamReader(st))
{
loc_list[0] = new List<PointLatLngAlt>();
while (sr.BaseStream.Position < sr.BaseStream.Length)
{
string line = "";
if (bin)
{
line = binlog.ReadMessage(sr.BaseStream);
}
else
{
line = sr.ReadLine();
}
if (line.StartsWith("FMT"))
{
dflog.FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
var item = dflog.GetDFItemFromLine(line, 0);
if (!dflog.logformat.ContainsKey("GPS"))
continue;
var status = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Status")]);
var lat = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0 || status < 3)
continue;
loc_list[0].Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
}
if (loc_list.Count > 0 && loc_list.First().Value.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
if (sitl)
{
AddTextToMap(grap, "SITL");
}
Color[] colours =
{
Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo,
Color.Violet, Color.Pink
};
int a = 0;
foreach (var locs in loc_list.Values)
{
PointF lastpoint = new PointF();
var pen = new Pen(colours[a%(colours.Length - 1)]);
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
grap.DrawLine(pen, lastpoint, newpoint);
lastpoint = newpoint;
}
a++;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
continue;
}
}
}
private void PopulateDataTableFromUploadedFile(System.IO.Stream strm)
{
System.IO.StreamReader srdr = new System.IO.StreamReader(strm);
String strLine = String.Empty;
Int32 iLineCount = 0;
DFLog.Clear();
do
{
strLine = srdr.ReadLine();
if (strLine == null)
{
break;
}
else if (strLine == "")
{
// continue;
}
if (0 == iLineCount++)
{
m_dtCSV = new DataTable("CSVTable");
}
this.AddDataRowToTable(strLine, m_dtCSV);
strLine = strLine.Replace(", ", ",");
strLine = strLine.Replace(": ", ":");
string[] items = strLine.Split(',', ':');
// populate fw type
if (items[0].Contains("SYSID_SW_TYPE"))
{
switch (items[1].ToString())
{
case "10":
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduCopter2;
break;
case "7":
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.Ateryx;
break;
case "20":
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduRover;
break;
case "0":
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
break;
}
}
if (items[0].Contains("FMT"))
{
try
{
DFLog.FMTLine(strLine);
}
catch { }
}
} while (true);
}
