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 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);
}
/// <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);
}
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);
}
// 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 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);
}
}
}
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
{
}
}
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);
}
}
}
/// <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;
}
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);
}
}
}
public string GetKml()
{
var matchId = _currentMatchProvider.GetMatchId();
SharpKml.Dom.Kml kml = new SharpKml.Dom.Kml();
var document = new Document();
kml.Feature = document;
var c = System.Drawing.ColorTranslator.FromHtml("#33FF33");
var postStyle = new Style();
postStyle.Id = "post_vanlig";
postStyle.Icon = new IconStyle
{
Color = new Color32(c.A, c.R, c.G, c.B),
Icon = new IconStyle.IconLink(new Uri("http://maps.google.com/mapfiles/kml/paddle/wht-blank.png")),
Scale = 0.5
};
document.AddStyle(postStyle);
var lagFolder = new Folder { Name = "Lag" };
var postFolder = new Folder { Name = "Poster" };
document.AddFeature(lagFolder);
document.AddFeature(postFolder);
using (var context = _dataContextFactory.Create())
{
var match = context.Matcher.Single(x => x.MatchId == matchId);
var maxLat = match.GeoboxNWLatitude.GetValueOrDefault();
var minLat = match.GeoboxSELatitude.GetValueOrDefault();
var minLon = match.GeoboxNWLongitude.GetValueOrDefault();
var maxLon = match.GeoboxSELongitude.GetValueOrDefault();
var poster = (from pim in context.PosterIMatch
where pim.Match.MatchId == matchId
select
new
{
pim.SynligFraTid,
pim.SynligTilTid,
pim.Post.Navn,
pim.Post.Latitude,
pim.Post.Longitude
}).ToList();
foreach (var p in poster)
{
var placemark = new Placemark();
placemark.StyleUrl = new Uri("#post_vanlig", UriKind.Relative);
placemark.Time = new TimeSpan { Begin = p.SynligFraTid, End = p.SynligTilTid };
placemark.Name = p.Navn;
placemark.Geometry = new Point { Coordinate = new Vector(p.Latitude, p.Longitude) };
postFolder.AddFeature(placemark);
}
var lag = context.Lag.ToList();
var lagDictionary = new Dictionary<string, Folder>();
foreach (var lag1 in lag)
{
var color = System.Drawing.ColorTranslator.FromHtml("#" + lag1.Farge);
var style = new Style();
style.Id = LagStyleKey(lag1.LagId);
style.Icon = new IconStyle
{
Color = new Color32(color.A, color.R, color.G, color.B),
Icon = new IconStyle.IconLink(new Uri("http://maps.google.com/mapfiles/kml/paddle/wht-blank-lv.png")),
Scale = 0.3
};
document.AddStyle(style);
var folder = new Folder { Name = lag1.Navn };
lagDictionary.Add(lag1.LagId, folder);
lagFolder.AddFeature(folder);
}
var førsteRegistering = (from r in context.PostRegisteringer
select r.RegistertTidspunkt).Min().AddMinutes(-5);
var avsluttet = (from r in poster
select r.SynligTilTid).Min().AddMinutes(5);
var deltakerPosisjoner = (from p in context.DeltakerPosisjoner
join d in context.Deltakere on p.DeltakerId equals d.DeltakerId
where førsteRegistering < p.Tidspunkt && p.Tidspunkt < avsluttet
select new
{
p.Latitude,
p.Longitude,
p.DeltakerId,
d.Navn,
d.Lag.Farge,
d.Lag.LagId,
p.Tidspunkt
}).GroupBy(x => x.DeltakerId).ToDictionary(x => x.Key, y => y);
foreach (var deltaker in deltakerPosisjoner)
{
//if (deltaker.Key != "MS_3-2")
// continue;
var førstePosisjon = deltaker.Value.FirstOrDefault();
var placemark = new Placemark();
placemark.StyleUrl = new Uri("#" + LagStyleKey(førstePosisjon.LagId), UriKind.Relative);
placemark.Name = førstePosisjon.Navn;
var posisjoner = deltaker.Value.OrderBy(x => x.Tidspunkt).ToList();
var track = new Track();
var forrigePosisjon = førstePosisjon;
foreach (var pos in posisjoner)
{
// Utafor boksen
if (pos.Latitude > maxLat || pos.Latitude < minLat || pos.Longitude > maxLon || pos.Longitude < minLon)
{
continue;
}
var meter = DistanseKalkulator.MeterMellom(forrigePosisjon.Latitude, forrigePosisjon.Longitude, pos.Latitude, pos.Longitude);
var sekunder = pos.Tidspunkt.Subtract(forrigePosisjon.Tidspunkt).TotalSeconds;
if (sekunder > 0)
{
var fart = meter / sekunder;
if (fart > 8.333) // raskere enn 12 blank på 100m
{
continue;
}
}
track.AddWhen(pos.Tidspunkt);
track.AddCoordinate(new Vector(pos.Latitude, pos.Longitude));
forrigePosisjon = pos;
}
placemark.Geometry = track;
lagDictionary[førstePosisjon.LagId].AddFeature(placemark);
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
return serializer.Xml;
}
static void exportKml(string filename, string outputFile)
{
Document kml = new Document();
FileChannel ch = new FileChannel(filename);
UAVObjectManager mgr = new UAVObjectManager();
UAVObjectsInitialize.register(mgr);
UavTalk.UavTalkProto tlk = new UavTalkProto(ch, mgr);
mgr.getObject<GPSPositionSensor>().onUpdated += new EventHandler(GpsPositionReceived);
mgr.getObject<PositionState>().onUpdated += new EventHandler(GpsPositionReceived);
ch.open();
while (ch.isRunning)
Thread.Sleep(50);
LineString ls = new LineString();
ls.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
ls.Extrude = true;
ls.Coordinates = coords;
Placemark pm = new Placemark();
pm.Name = "Flight Path ";
//pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
pm.Geometry = ls;
kml.AddFeature(pm);
Serializer serializer = new Serializer();
serializer.Serialize(kml);
StreamWriter sw = new StreamWriter(outputFile);
sw.Write(serializer.Xml);
sw.Close();
}