| public GetDFItemFromLine ( string line, int lineno ) : DFItem | ||
| line | string | |
| lineno | int | |
| return | DFItem | |
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;
}
}
}
void setlinecount()
{
int offset = 0;
byte[] buffer = new byte[1024 * 1024];
var lineCount = 0;
if (binary)
{
long length = basestream.Length;
while (basestream.Position < length)
{
var ans = binlog.ReadMessageTypeOffset(basestream);
if (ans == null)
{
continue;
}
byte type = ans.Item1;
messageindex[type].Add((uint)(ans.Item2));
linestartoffset.Add((uint)(ans.Item2));
lineCount++;
}
_count = lineCount;
// build fmt line database to pre seed the FMT message
int amax = Math.Min(2000, _count - 1);
for (int a = 0; a < amax; a++)
{
dflog.GetDFItemFromLine(this[a].ToString(), a);
}
// build fmt line database using type
foreach (var item in GetEnumeratorType("FMT"))
{
Console.WriteLine("Found FMT");
}
}
else
{
// first line starts at 0
linestartoffset.Add(0);
while (basestream.Position < basestream.Length)
{
offset = 0;
long startpos = basestream.Position;
int read = basestream.Read(buffer, offset, buffer.Length);
while (read > 0)
{
if (buffer[offset] == '\n')
{
linestartoffset.Add((uint)(startpos + 1 + offset));
lineCount++;
}
offset++;
read--;
}
}
_count = lineCount;
// create msg cache
int b = 0;
foreach (var item in this)
{
var dfitem = dflog.GetDFItemFromLine(item.ToString(), b);
if (dfitem.msgtype != null && dflog.logformat.ContainsKey(dfitem.msgtype))
{
var type = (byte)dflog.logformat[dfitem.msgtype].Id;
messageindex[type].Add(linestartoffset[b]);
}
b++;
}
}
indexcachelineno = -1;
}
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 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;
}
}
}
void setlinecount()
{
int offset = 0;
byte[] buffer = new byte[1024 * 1024];
var lineCount = 0;
if (binary)
{
while (basestream.Position < basestream.Length)
{
offset = 0;
// seek back 5 on each buffer fill
if (basestream.Position > 10)
{
basestream.Seek(-5, SeekOrigin.Current);
}
long startpos = basestream.Position;
int read = basestream.Read(buffer, offset, buffer.Length);
// 5 byte overlap
while (read > 2)
{
if (buffer[offset] == BinaryLog.HEAD_BYTE1 && buffer[offset + 1] == BinaryLog.HEAD_BYTE2)
{
byte type = buffer[offset + 2];
messageindex[type].Add(startpos + offset);
linestartoffset.Add(startpos + offset);
lineCount++;
}
offset++;
read--;
}
}
_count = lineCount;
// build fmt line database
int amax = Math.Min(2000, _count - 1);
for (int a = 0; a < amax; a++)
{
dflog.GetDFItemFromLine(this[a].ToString(), a);
}
}
else
{
// first line starts at 0
linestartoffset.Add(0);
while (basestream.Position < basestream.Length)
{
offset = 0;
long startpos = basestream.Position;
int read = basestream.Read(buffer, offset, buffer.Length);
while (read > 0)
{
if (buffer[offset] == '\n')
{
linestartoffset.Add(startpos + 1 + offset);
lineCount++;
}
offset++;
read--;
}
}
_count = lineCount;
// build fmt line database
int amax = Math.Min(2000, _count - 1);
for (int a = 0; a < amax; a++)
{
dflog.GetDFItemFromLine(this[a].ToString(), a);
}
// create msg cache
int b = 0;
foreach (var item in this)
{
var dfitem = dflog.GetDFItemFromLine(item.ToString(), b);
var type = (byte)dflog.logformat[dfitem.msgtype].Id;
messageindex[type].Add(linestartoffset[b]);
b++;
}
}
}
public void writeKML(string filename)
{
try
{
writeGPX(filename);
}
catch
{ }
try
{
writeRinex(filename);
}
catch
{ }
try
{
writeWPFile(filename);
}
catch
{ }
try
{
writeParamFile(filename);
}
catch
{ }
Color[] colours =
{
Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo,
Color.Violet, Color.Pink
};
AltitudeMode altmode = AltitudeMode.absolute;
KMLRoot kml = new KMLRoot();
Folder fldr = new Folder("Log");
Style style = new Style();
style.Id = "yellowLineGreenPoly";
style.Add(new LineStyle(HexStringToColor("7f00ffff"), 4));
Style style1 = new Style();
style1.Id = "spray";
style1.Add(new LineStyle(HexStringToColor("4c0000ff"), 0));
style1.Add(new PolyStyle()
{
Color = HexStringToColor("4c0000ff")
});
PolyStyle pstyle = new PolyStyle();
pstyle.Color = HexStringToColor("7f00ff00");
style.Add(pstyle);
kml.Document.AddStyle(style);
kml.Document.AddStyle(style1);
int stylecode = 0xff;
int g = -1;
foreach (List <Point3D> poslist in position)
{
g++;
if (poslist == null)
{
continue;
}
/*
* List<PointLatLngAlt> pllalist = new List<PointLatLngAlt>();
*
* foreach (var point in poslist)
* {
* pllalist.Add(new PointLatLngAlt(point.Y, point.X, point.Z, ""));
* }
*
* var ans = Utilities.LineOffset.GetPolygon(pllalist, 2);
*
*
*
* while (ans.Count > 0)
* {
* var first = ans[0];
* var second = ans[1];
* var secondlast = ans[ans.Count - 2];
* var last = ans[ans.Count-1];
*
* ans.Remove(first);
* ans.Remove(last);
*
* var polycoords = new BoundaryIs();
*
* polycoords.LinearRing = new LinearRing();
*
* polycoords.LinearRing.Coordinates.Add(new Point3D(first.Lng, first.Lat, 1));
* polycoords.LinearRing.Coordinates.Add(new Point3D(second.Lng, second.Lat, 1));
* polycoords.LinearRing.Coordinates.Add(new Point3D(secondlast.Lng, secondlast.Lat, 1));
* polycoords.LinearRing.Coordinates.Add(new Point3D(last.Lng, last.Lat, 1));
* polycoords.LinearRing.Coordinates.Add(new Point3D(first.Lng, first.Lat, 1));
*
* //if (!IsClockwise(polycoords.LinearRing.Coordinates))
* // polycoords.LinearRing.Coordinates.Reverse();
*
* Polygon kmlpoly = new Polygon() { AltitudeMode = AltitudeMode.relativeToGround, Extrude = false, OuterBoundaryIs = polycoords };
*
* Placemark pmpoly = new Placemark();
* pmpoly.Polygon = kmlpoly;
* pmpoly.name = g + " test";
* pmpoly.styleUrl = "#spray";
*
* fldr.Add(pmpoly);
* }
*/
LineString ls = new LineString();
ls.AltitudeMode = altmode;
ls.Extrude = true;
//ls.Tessellate = true;
Coordinates coords = new Coordinates();
coords.AddRange(poslist);
ls.coordinates = coords;
Placemark pm = new Placemark();
string mode = "";
if (g < modelist.Count)
{
mode = modelist[g];
}
pm.name = g + " Flight Path " + mode;
pm.styleUrl = "#yellowLineGreenPoly";
pm.LineString = ls;
stylecode = colours[g % (colours.Length - 1)].ToArgb();
Style style2 = new Style();
Color color = Color.FromArgb(0xff, (stylecode >> 16) & 0xff, (stylecode >> 8) & 0xff,
(stylecode >> 0) & 0xff);
log.Info("colour " + color.ToArgb().ToString("X") + " " + color.ToString());
style2.Add(new LineStyle(color, 4));
pm.AddStyle(style2);
fldr.Add(pm);
}
Placemark pmPOS = new Placemark();
pmPOS.name = "POS Message";
pmPOS.LineString = new LineString();
pmPOS.LineString.coordinates = new Coordinates();
Point3D lastPoint3D = new Point3D();
PointLatLngAlt lastplla = PointLatLngAlt.Zero;
foreach (var item in PosLatLngAlts)
{
var newpoint = new Point3D(item.Lng, item.Lat, item.Alt);
if (item.GetDistance(lastplla) < 0.1 &&
lastPoint3D.Z >= (newpoint.Z - 0.3) &&
lastPoint3D.Z <= (newpoint.Z + 0.3))
{
continue;
}
pmPOS.LineString.coordinates.Add(newpoint);
lastPoint3D = newpoint;
lastplla = item;
if (pmPOS.LineString.coordinates.Count > 20000)
{
//add current
pmPOS.AddStyle(style);
fldr.Add(pmPOS);
// create new
pmPOS = new Placemark();
pmPOS.name = "POS Message - extra";
pmPOS.LineString = new LineString();
pmPOS.LineString.coordinates = new Coordinates();
lastPoint3D = new Point3D();
lastplla = PointLatLngAlt.Zero;
}
}
pmPOS.AddStyle(style);
fldr.Add(pmPOS);
Folder planes = new Folder();
planes.name = "Planes";
fldr.Add(planes);
Folder waypoints = new Folder();
waypoints.name = "Waypoints";
fldr.Add(waypoints);
LineString lswp = new LineString();
lswp.AltitudeMode = AltitudeMode.relativeToGround;
lswp.Extrude = true;
Coordinates coordswp = new Coordinates();
int lastwp = 0;
foreach (var line in cmdraw)
{
var item = dflog.GetDFItemFromLine(line, 0);
if (int.Parse(item["CId"]) <= (int)MAVLink.MAV_CMD.LAST) // wps
{
var wpno = int.Parse(item["CNum"]);
if (wpno < lastwp)
{
lswp.coordinates = coordswp;
Placemark pmwp = new Placemark();
pmwp.name = "Waypoints ";
//pm.styleUrl = "#yellowLineGreenPoly";
pmwp.LineString = lswp;
if (coordswp.Count > 0)
{
waypoints.Add(pmwp);
}
lswp = new LineString();
lswp.AltitudeMode = AltitudeMode.relativeToGround;
lswp.Extrude = true;
coordswp = new Coordinates();
}
lastwp = wpno;
var lng = double.Parse(item["Lng"], CultureInfo.InvariantCulture);
var lat = double.Parse(item["Lat"], CultureInfo.InvariantCulture);
var alt = double.Parse(item["Alt"], CultureInfo.InvariantCulture);
if (wpno == 0)
{
alt = 0;
}
if (lat == 0 && lng == 0)
{
continue;
}
coordswp.Add(new Point3D(lng, lat, alt));
}
}
lswp.coordinates = coordswp;
Placemark pmwp2 = new Placemark();
pmwp2.name = "Waypoints";
//pm.styleUrl = "#yellowLineGreenPoly";
pmwp2.LineString = lswp;
if (coordswp.Count > 0)
{
waypoints.Add(pmwp2);
}
int a = 0;
int l = -1;
Model lastmodel = null;
foreach (Data mod in flightdata)
{
l++;
if (mod.model.Location.latitude == 0)
{
continue;
}
if (lastmodel != null)
{
if (lastmodel.Location.Equals(mod.model.Location))
{
continue;
}
}
Placemark pmplane = new Placemark();
pmplane.name = "Plane " + a;
pmplane.visibility = false;
Model model = mod.model;
model.AltitudeMode = altmode;
model.Scale.x = 2;
model.Scale.y = 2;
model.Scale.z = 2;
try
{
pmplane.description = @"<![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>
<tr><td>WP dist " + mod.ntun[2] + @" </td></tr>
<tr><td>tar bear " + mod.ntun[3] + @" </td></tr>
<tr><td>nav bear " + mod.ntun[4] + @" </td></tr>
<tr><td>alt error " + mod.ntun[5] + @" </td></tr>
</table>
]]>";
}
catch
{
}
try
{
pmplane.Point = new KmlPoint((float)model.Location.longitude, (float)model.Location.latitude,
(float)model.Location.altitude);
pmplane.Point.AltitudeMode = altmode;
Link link = new Link();
link.href = "block_plane_0.dae";
model.Link = link;
pmplane.Model = model;
planes.Add(pmplane);
}
catch
{
} // bad lat long value
lastmodel = mod.model;
a++;
}
kml.Document.Add(fldr);
kml.Save(filename);
// create kmz - aka zip file
FileStream fs = File.Open(filename.ToLower().Replace(".log.kml", ".kmz").Replace(".bin.kml", ".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.OpenRead(filename))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
File.Delete(filename);
filename = Settings.GetRunningDirectory() +
"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();
positionindex = 0;
modelist.Clear();
flightdata.Clear();
position = new List <Core.Geometry.Point3D> [200];
cmdraw.Clear();
}
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;
}
}
}
