public linearFeatureCoverageSummary readLinearFeatureCoverageData(XmlReader tr, String ProjectName)
{
///////////////////////////////////////////////////////////////////////
//read in the input kml describing the line feature coverage
///////////////////////////////////////////////////////////////////////
//input kml linear feature -- dont need this
//project map bounds
//path information (trigger spacing, origin, UTM zone)
//table of information -- need some of this
//takeoff airport -- dont need this
//along-path map bounds -- need this
//path specific data -- dont need this
//smoothed trajectory -- need this
//center projection -- dont need
//image endpoints -- dont need
bool completedreadingProjectMapBounds = false;
bool completedReadingPathInformation = false;
bool completedReadingSmoothedPathPoints = false;
linearFeatureCoverageSummary LFSummary = new linearFeatureCoverageSummary();
LFSummary.gridOrigin = new PointD();
//get the project map bounds
//how do I exit this loop ???
//TODO: test to see if the kml file projectName is the same as the kml fileName
while (tr.Read() && !completedreadingProjectMapBounds)
{
if (tr.EOF) break;
if (tr.IsStartElement() && tr.Name == "GroundOverlay")
{
while (tr.Read() && !completedreadingProjectMapBounds)
{
if (tr.IsStartElement() && tr.Name == "name")
{
tr.Read();
//we are looking for the name "project Map" where we will get the map bounds
if (tr.Value == "Project Map")
{
int numBounds = 0;
while (tr.Read() && !completedreadingProjectMapBounds)
{
if (tr.IsStartElement() && tr.Name == "north")
{
tr.Read();
LFSummary.ProjectImage.northDeg = Convert.ToDouble(tr.Value);
numBounds++;
}
if (tr.IsStartElement() && tr.Name == "south")
{
tr.Read();
LFSummary.ProjectImage.southDeg = Convert.ToDouble(tr.Value);
numBounds++;
}
if (tr.IsStartElement() && tr.Name == "east")
{
tr.Read();
LFSummary.ProjectImage.eastDeg = Convert.ToDouble(tr.Value);
numBounds++;
}
if (tr.IsStartElement() && tr.Name == "west")
{
tr.Read();
LFSummary.ProjectImage.westDeg = Convert.ToDouble(tr.Value);
numBounds++;
}
if (numBounds == 4) completedreadingProjectMapBounds = true;
}
}
}
}
}
}// end of: get the project map bounds
if (tr.EOF)
{
MessageBox.Show("Bad map bounds format for the input kml file -- exiting");
Environment.Exit(-1);
}
int numPathInfo = 0;
while (tr.Read() && !completedReadingPathInformation)
{
if (tr.EOF) break;
if (tr.IsStartElement() && tr.Name == "downRangePhotoSpacingMeters")
{
tr.Read();
LFSummary.photocenterSpacing = Convert.ToDouble(tr.Value);
numPathInfo++;
}
if (tr.IsStartElement() && tr.Name == "numberOfPaths")
{
tr.Read();
LFSummary.numberParallelPaths = Convert.ToInt32(tr.Value);
numPathInfo++;
}
if (tr.IsStartElement() && tr.Name == "UTMZone")
{
tr.Read();
LFSummary.UTMZone = tr.Value;
numPathInfo++;
}
if (tr.IsStartElement() && tr.Name == "gridOriginUTMNorthing")
{
tr.Read();
LFSummary.gridOrigin.Y = Convert.ToDouble(tr.Value);
numPathInfo++;
}
if (tr.IsStartElement() && tr.Name == "gridOriginUTMEasting")
{
tr.Read();
LFSummary.gridOrigin.X = Convert.ToDouble(tr.Value);
numPathInfo++;
}
if (tr.IsStartElement() && tr.Name == "proNavGain")
{
tr.Read();
LFSummary.proNavGain = Convert.ToDouble(tr.Value);
numPathInfo++;
}
if (tr.IsStartElement() && tr.Name == "rabbitAheadDistance")
{
tr.Read();
LFSummary.plannedRabbitDistanceAhead = Convert.ToDouble(tr.Value);
numPathInfo++;
}
if (tr.IsStartElement() && tr.Name == "flightAltAGLft")
{
tr.Read();
LFSummary.flightAltAGLft = Convert.ToDouble(tr.Value);
numPathInfo++;
}
if (numPathInfo == 8)completedReadingPathInformation = true;
} // end of: get the path info
if (tr.EOF)
{
MessageBox.Show("Bad path info format for the input kml file -- exiting");
Environment.Exit(-1);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//read in the bounds of the mission images ProjectName_Background\background_YY.jpg
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
LFSummary.paths = new List<pathDescription>();
int numPathsProcessedForBounds = 0;
while (tr.Read() && numPathsProcessedForBounds < LFSummary.numberParallelPaths)
{
if (tr.EOF) break;
//read til we get the top of the next set of image bounds for a path
if (tr.IsStartElement() && tr.Name == "numBGImagesThisPath")
{
tr.Read();
int numImagesThisPath = Convert.ToInt32(tr.Value);
int pathImageBoundsRead = 0;
pathDescription path = new pathDescription();
path.imageBounds = new List<ImageBounds>();
//read off a complete set of bounds for a path
while (tr.Read() && pathImageBoundsRead < numImagesThisPath) //loop over all image bounds in the folder
{
//read a complete set of image bounds
ImageBounds ib = new ImageBounds(); // fill an image bounds structure
int numBounds = 0;
while (tr.Read() && numBounds < 4)
{
if (tr.IsStartElement() && tr.Name == "north")
{
tr.Read();
ib.northDeg = Convert.ToDouble(tr.Value);
numBounds++;
}
if (tr.IsStartElement() && tr.Name == "east")
{
tr.Read();
ib.eastDeg = Convert.ToDouble(tr.Value);
numBounds++;
}
if (tr.IsStartElement() && tr.Name == "south")
{
tr.Read();
ib.southDeg = Convert.ToDouble(tr.Value);
numBounds++;
}
if (tr.IsStartElement() && tr.Name == "west")
{
tr.Read();
ib.westDeg = Convert.ToDouble(tr.Value);
numBounds++;
}
}
path.imageBounds.Add(ib);
pathImageBoundsRead++;
}
LFSummary.paths.Add(path);
numPathsProcessedForBounds++;
}
} //end of reading in the map bounds along the paths
if (tr.EOF)
{
MessageBox.Show("Bad path info format for the input kml file -- exiting");
Environment.Exit(-1);
}
//read in the smoothed trajectory for each path
UTM2Geodetic utm = new UTM2Geodetic();
//we are ready to read off the coordinates of the smoothed trajectory
int numPathsProcessed = 0;
while (tr.Read() && !completedReadingSmoothedPathPoints)
{
if (tr.EOF) break;
if (tr.IsStartElement() && tr.Name == "name")
{
tr.Read();
//we will encounter this statement "numberParallelPaths" times
if (tr.Value == "Smoothed Linear Feature Trajectory")
{
pathDescription path = LFSummary.paths[numPathsProcessed];
path.pathGeoDeg = new List<PointD>();
path.pathUTM = new List<PointD>();
path.commandedAltAlongPath = new List<double>();
bool thisPathComplete = false;
while (tr.Read() && !thisPathComplete)
{
//locate the coordinate tag for this path
if (tr.IsStartElement() && tr.Name == "coordinates")
{
tr.Read(); //read the complete coordinate dataset
char[] delimiterChars = { ',', ' ', '\t', '\n', '\r' }; //these delimiters were determined by looking at a file ...
//create a character string with all characters separated by a delimeter
string[] coordinateValues = tr.Value.ToString().Split(delimiterChars);
//the "value" is the text between the <coordinates> and </coordinates>
//below we read the complete string value and split it into separate substrings -- ugly but it works
//the substrings contain the individual coordinate values with some ""s and the heigts are "0".
//get the quantitative lat/long values from the text array ... there are a number of ""s in the text file ...
//each Google point has three values : longitude, Latitude, height -- we assume the height is zero here
int k = 0; int i = 0;
while (i < coordinateValues.Count())
{
if (coordinateValues[i] != "")
{
double lat = Convert.ToDouble(coordinateValues[i + 1]);
double lon = Convert.ToDouble(coordinateValues[i]);
double alt = Convert.ToDouble(coordinateValues[i + 2]);
path.pathGeoDeg.Add(new PointD(lon, lat) );
path.commandedAltAlongPath.Add(alt);
//convert the geodetic to UTM
double UTMNorthing = 0.0, UTMEasting = 0.0;
utm.LLtoUTM(lat * utm.Deg2Rad, lon * utm.Deg2Rad, ref UTMNorthing, ref UTMEasting, ref LFSummary.UTMZone, true);
path.pathUTM.Add(new PointD(UTMEasting, UTMNorthing));
k++; //index of the storage array
//increment the split array by 3 because the points are lat,lon,height
i += 3; //increment by 3 to get the next coordinate
}
else i++; //here we skip the ""s in the text array
}
thisPathComplete = true;
numPathsProcessed++;
}
} //end of while numPathsProcessed < LFSummary.numberParallelPaths
if (numPathsProcessed == LFSummary.numberParallelPaths)
completedReadingSmoothedPathPoints = true;
}
}
}
if (tr.EOF)
{
MessageBox.Show("Bad smoothed trajectory format for the input kml file -- exiting");
Environment.Exit(-1);
}
return LFSummary;
//////////////////////////////////////////////////////////////
// the Project Summary for Waldo_FCS is Complete
//////////////////////////////////////////////////////////////
}
public List<endPoints> UpdateFlightLinesPerPriorFlownMissions(int missionNumber)
{
/////////////////////////////////////////////////////////////////////////////////////////////
//use the MissionUpdateFlightlines structure (fromn the constructor) to update the flight lines
//the new flight lines replace the old flight lines
//the initial prior flightline analysis provided a structure
//that contained only data from the flown missions.
//This procedure creates a replica of the mission plan flight lines,
//for a specific mission, that are adjusted to remove the prior flown lines (and segments)
/////////////////////////////////////////////////////////////////////////////////////////////
UTM2Geodetic utm = new UTM2Geodetic(); //needs to be in a utility procedure available to all in the solution
//test to see if pre-flown mission dataset contain this mission
int preFlownMissionIndex = 0; //mission index from the flightline analysis
bool thisMissionWasPreflown = false;
foreach (MissionUpdateFlightlines msnUpdate in projUpdate.msnUpdate)
{
if (missionNumber == msnUpdate.missionNumber) { thisMissionWasPreflown = true; break; }
preFlownMissionIndex++;
}
////////////////////////////////////////////////////////////////////////////////////////////
//this is the updates flight line dataset that replicates the data in the original plan
List<endPoints> FLUpdateList = new List<endPoints>(); //return value
////////////////////////////////////////////////////////////////////////////////////////////
//if this mission was not reflown -- just copy the old data to the replica
if (!thisMissionWasPreflown)
{
for (int iFL = 0; iFL < projSum.msnSum[missionNumber].numberOfFlightlines; iFL++)
FLUpdateList.Add(projSum.msnSum[missionNumber].FlightLinesCurrentPlan[iFL]);
return FLUpdateList;
}
//if here, the mission was reflown -- generate the replica.
//NOTE: all flightlines were likely not preflown -- just a part of them.
//this is an index into the preflown-analysis structure indicating the reflown line
int nextFlownFL = 0;
//cycle through ALL flight lines for this mission
for (int iFL = 0; iFL < projSum.msnSum[missionNumber].numberOfFlightlines; iFL++)
{
bool thisFlightLineWasPreflown = false;
//the "if" below skips the checks on the remaining lines if we are beyond the nuber of reflown lines
if (nextFlownFL >= projUpdate.msnUpdate[preFlownMissionIndex].flightLineUpdate.Count) thisFlightLineWasPreflown = false;
//this is the test to see if we have reflown this line = iFL
else if (iFL == projUpdate.msnUpdate[preFlownMissionIndex].flightLineUpdate[nextFlownFL].FLNumber) thisFlightLineWasPreflown = true;
if (!thisFlightLineWasPreflown) //if not reflown -- just copy the old data
{
FLUpdateList.Add(projSum.msnSum[missionNumber].FlightLinesCurrentPlan[iFL]);
}
else //create a new flightline dataset
{
// NOTE: we convert the initial geodetic ends to UTM for the now endpoint computations
// this is to maintain precision
//found a pre-flown flightline
PointD FLendGeo = projSum.msnSum[missionNumber].FlightLinesCurrentPlan[iFL].end;
PointD FLstartGeo = projSum.msnSum[missionNumber].FlightLinesCurrentPlan[iFL].start;
PointD FLendUTM = new PointD(0.0, 0.0);
PointD FLstartUTM = new PointD(0.0, 0.0);
//convert the original planned flight line ends to UTM -- could pass these in from the original plan
//NOTTE: maintain the same utm zone fro the mission planning -- else big trouble!!!
utm.LLtoUTM(FLstartGeo.Y * utm.Deg2Rad, FLstartGeo.X * utm.Deg2Rad, ref FLstartUTM.Y, ref FLstartUTM.X, ref projSum.UTMZone, true);
utm.LLtoUTM(FLendGeo.Y * utm.Deg2Rad, FLendGeo.X * utm.Deg2Rad, ref FLendUTM.Y, ref FLendUTM.X, ref projSum.UTMZone, true);
//below are the start and end photocenters as determined from the prior-flown mission analysis
//NOTE: the start is geodetically fixed -- e.g., at the south end for a NS flightline
int startPhotoCenter = projUpdate.msnUpdate[preFlownMissionIndex].flightLineUpdate[nextFlownFL].early;
int endPhotoCenter = projUpdate.msnUpdate[preFlownMissionIndex].flightLineUpdate[nextFlownFL].late;
PointD newStartUTM = new PointD(0.0, 0.0);
PointD newEndUTM = new PointD(0.0, 0.0);
// just a comparison of the computed and input flightline lengths ... it checks: JEK 1/26/2012
double FLMag1 = projSum.msnSum[missionNumber].FlightLinesCurrentPlan[iFL].FLLengthMeters;
//double FLMag2 = Math.Sqrt((FLendUTM.X - FLstartUTM.X) * (FLendUTM.X - FLstartUTM.X) + (FLendUTM.Y - FLstartUTM.Y) * (FLendUTM.Y - FLstartUTM.Y));
//proportionally space the new photocenters along the origional flightine -- in UTM space
newStartUTM = FLstartUTM + (startPhotoCenter * projSum.downrangeTriggerSpacing / FLMag1) * (FLendUTM - FLstartUTM);
newEndUTM = FLstartUTM + (endPhotoCenter * projSum.downrangeTriggerSpacing / FLMag1) * (FLendUTM - FLstartUTM);
PointD newStartGeo = new PointD(0.0, 0.0);
PointD newEndGeo = new PointD(0.0, 0.0);
//now convert them back to geodetic
utm.UTMtoLL(newStartUTM.Y, newStartUTM.X, projSum.UTMZone, ref newStartGeo.Y, ref newStartGeo.X);
utm.UTMtoLL(newEndUTM.Y, newEndUTM.X, projSum.UTMZone, ref newEndGeo.Y, ref newEndGeo.X);
endPoints epts = new endPoints(); //temporary structure
//fill the temporary structure
//this used the 2D geometry and will work for NS or EW flight lines
epts.FLLengthMeters = (endPhotoCenter - startPhotoCenter) * projSum.downrangeTriggerSpacing;
epts.end = newEndGeo;
epts.start = newStartGeo;
//this is the global project flight line number -- not a local number used for this mission
epts.FlightLineNumber = projSum.msnSum[missionNumber].FlightLinesCurrentPlan[iFL].FlightLineNumber;
//below is important to allow flight line updates that include partial flown lines.
//all photocenters are given a unique name in the original flight plan
//we must keep this original name for the photocenters
//the names are based on the distance from the geodetic fixed otiginal start location
// so we have to keep the offset for the updated flight lines from the original plan
epts.photoCenterOffset = startPhotoCenter;
//fill the replical flight line structure
FLUpdateList.Add(epts);
//increment the index into the preflown flightline analysis structure
nextFlownFL++;
} //end of filling the new flightline record
} //end of filling the individual flight lines (iFL)
return FLUpdateList; //filled replica of the original flightplan fllightlines for this mission
}
public CurrentFlightLineGeometry( int missionNumber, int flightLineNumber, ProjectSummary _ps, bool[] _priorFlownFLs)
{
////////////////////////////////////////////////////////////////////
//do all the stuff that does not vary with the aircraft location
////////////////////////////////////////////////////////////////////
ps = _ps;
priorFlownFLs = _priorFlownFLs;
UTM2Geodetic utm = new UTM2Geodetic();
Rad2Deg = 180.0 / Math.Acos(-1.0);
Deg2Rad = Math.Acos(-1.0) / 180.0;
FLendUTM = new PointD(0.0, 0.0);
FLstartUTM = new PointD(0.0, 0.0);
FLP1endUTM = new PointD(0.0, 0.0);
FLP1startUTM = new PointD(0.0, 0.0);
//set up the parameters of the flight line independent of the aircraft Platform
FLendGeo = ps.msnSum[missionNumber].FlightLinesCurrentPlan[flightLineNumber].end;
FLstartGeo = ps.msnSum[missionNumber].FlightLinesCurrentPlan[flightLineNumber].start;
//utm flight line endpoints
utm.LLtoUTM(FLstartGeo.Y * Deg2Rad, FLstartGeo.X * Deg2Rad, ref FLstartUTM.Y, ref FLstartUTM.X, ref ps.UTMZone, true);
utm.LLtoUTM(FLendGeo.Y * Deg2Rad, FLendGeo.X * Deg2Rad, ref FLendUTM.Y, ref FLendUTM.X, ref ps.UTMZone, true);
// the number 10 means that the semi-infinite line extensions are 10 times longer than the flightline ....
PointD del = 10 * (FLendGeo - FLstartGeo); //semi-infinite line use for drawing a line extending beyond the FL ends
semiInfiniteFLstartGeo = FLstartGeo - del;
semiInfiniteFLendGeo = FLendGeo + del;
FLlengthSq = (FLendUTM.X - FLstartUTM.X) * (FLendUTM.X - FLstartUTM.X) + (FLendUTM.Y - FLstartUTM.Y) * (FLendUTM.Y - FLstartUTM.Y);
FLlengthMeters = Math.Sqrt(FLlengthSq);
start2EndFlightLineUnit = new PointD((FLendUTM.X - FLstartUTM.X) / FLlengthMeters, (FLendUTM.Y - FLstartUTM.Y) / FLlengthMeters);
//next flight line data -- what happens on the last flightlne ??
if (flightLineNumber < (ps.msnSum[missionNumber].numberOfFlightlines-1) )
{
//this is redundant with code where the currentFlightLine is switched
// nextFlightlineNumber should be kept as a part of flightline geometry
nextFlightlineNumber = flightLineNumber + 1;
while (priorFlownFLs[nextFlightlineNumber])
{
if (nextFlightlineNumber >= priorFlownFLs.Count() - 1) break;
nextFlightlineNumber++;
}
PointD FLP1endGeo = ps.msnSum[missionNumber].FlightLinesCurrentPlan[nextFlightlineNumber].end;
PointD FLP1startGeo = ps.msnSum[missionNumber].FlightLinesCurrentPlan[nextFlightlineNumber].start;
utm.LLtoUTM(FLP1startGeo.Y * Deg2Rad, FLP1startGeo.X * Deg2Rad, ref FLP1startUTM.Y, ref FLP1startUTM.X, ref ps.UTMZone, true);
utm.LLtoUTM(FLP1endGeo.Y * Deg2Rad, FLP1endGeo.X * Deg2Rad, ref FLP1endUTM.Y, ref FLP1endUTM.X, ref ps.UTMZone, true);
//works for all flightline aspects -- assumes the flightlines are parallel
//project start-to-start (RS) and end-to-end (RE) vectors onto current flightline start-to-end unit vector
double delSX = FLP1startUTM.X - FLstartUTM.X;
double delSY = FLP1startUTM.Y - FLstartUTM.Y;
double RS = start2EndFlightLineUnit.X * delSX + start2EndFlightLineUnit.Y * delSY;
double delEX = FLP1endUTM.X - FLendUTM.X;
double delEY = FLP1endUTM.Y - FLendUTM.Y;
double RE = start2EndFlightLineUnit.X * delEX + start2EndFlightLineUnit.Y * delEY;
if (RS < 0.0) ExtensionBeforeStart = -RS;
if (RE > 0.0) ExtensionBeyondEnd = RE;
//below works for only NS missions
//if (FLP1endUTM.Y > FLendUTM.Y) ExtensionBeyondEnd = FLP1endUTM.Y - FLendUTM.Y;
//if (FLP1startUTM.Y < FLstartUTM.Y) ExtensionBeforeStart = FLstartUTM.Y - FLP1startUTM.Y;
}
//the "+1" ensures a photocenter at the start of the flight line and at the end of the flight line.
//The start/ends of the line have been placed on a grid with fixed downrange spacing for the complete project
numPhotoCenters = Convert.ToInt32( FLlengthMeters / ps.downrangeTriggerSpacing) + 1;
//used to record the successful completion of a photocenter
//set to true after we have recorded the image on the storage media
successfulImagesCollected = new bool[numPhotoCenters+10];
//store the photocenter locations in pixel coordinates
TriggerPoints = new Point[numPhotoCenters + 10];
for (int i = 0; i < numPhotoCenters + 10; i++)
{
successfulImagesCollected[i] = false;
TriggerPoints[i] = new Point();
}
}
