public static void ProcessFile(string logfile) { if (File.Exists(logfile + ".jpg")) { return; } double minx = 99999; double maxx = -99999; double miny = 99999; double maxy = -99999; bool sitl = false; Dictionary <int, List <PointLatLngAlt> > loc_list = new Dictionary <int, List <PointLatLngAlt> >(); try { if (logfile.ToLower().EndsWith(".tlog")) { using (MAVLinkInterface mine = new MAVLinkInterface()) using ( mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite)) ) { mine.logreadmode = true; mine.speechenabled = false; while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length) { MAVLink.MAVLinkMessage packet = mine.readPacket(); if (packet.Length < 5) { continue; } if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.SIM_STATE || packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.SIMSTATE) { sitl = true; } if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT) { var loc = packet.ToStructure <MAVLink.mavlink_global_position_int_t>(); if (loc.lat == 0 || loc.lon == 0) { continue; } var id = MAVList.GetID(packet.sysid, packet.compid); if (!loc_list.ContainsKey(id)) { loc_list[id] = new List <PointLatLngAlt>(); } loc_list[id].Add(new PointLatLngAlt(loc.lat / 10000000.0f, loc.lon / 10000000.0f)); minx = Math.Min(minx, loc.lon / 10000000.0f); maxx = Math.Max(maxx, loc.lon / 10000000.0f); miny = Math.Min(miny, loc.lat / 10000000.0f); maxy = Math.Max(maxy, loc.lat / 10000000.0f); } } } } else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log")) { using ( CollectionBuffer colbuf = new CollectionBuffer(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite)) ) { loc_list[0] = new List <PointLatLngAlt>(); foreach (var item in colbuf.GetEnumeratorType("GPS")) { if (item.msgtype.StartsWith("GPS")) { if (!colbuf.dflog.logformat.ContainsKey("GPS")) { continue; } var status = double.Parse(item.items[colbuf.dflog.FindMessageOffset(item.msgtype, "Status")]); var lat = double.Parse(item.items[colbuf.dflog.FindMessageOffset(item.msgtype, "Lat")]); var lon = double.Parse(item.items[colbuf.dflog.FindMessageOffset(item.msgtype, "Lng")]); if (lat == 0 || lon == 0 || status < 3) { continue; } loc_list[0].Add(new PointLatLngAlt(lat, lon)); minx = Math.Min(minx, lon); maxx = Math.Max(maxx, lon); miny = Math.Min(miny, lat); maxy = Math.Max(maxy, lat); } } } } if (loc_list.Count > 0 && loc_list.First().Value.Count > 10) { // add a bit of buffer var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001); using (var map = GetMap(area)) using (var grap = Graphics.FromImage(map)) { if (sitl) { AddTextToMap(grap, "SITL"); } Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink }; int a = 0; foreach (var locs in loc_list.Values) { PointF lastpoint = new PointF(); var pen = new Pen(colours[a % (colours.Length - 1)]); foreach (var loc in locs) { PointF newpoint = GetPixel(area, loc, map.Size); if (!lastpoint.IsEmpty) { grap.DrawLine(pen, lastpoint, newpoint); } lastpoint = newpoint; } a++; } map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg); } } else { DoTextMap(logfile + ".jpg", "No gps data"); } } catch (Exception ex) { if (ex.ToString().Contains("Mavlink 0.9")) { DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9"); } return; } }
public static void MapLogs(string[] logs) { foreach (var logfile in logs) { if (File.Exists(logfile + ".jpg")) { continue; } double minx = 99999; double maxx = -99999; double miny = 99999; double maxy = -99999; Dictionary <int, List <PointLatLngAlt> > loc_list = new Dictionary <int, List <PointLatLngAlt> >(); try { if (logfile.ToLower().EndsWith(".tlog")) { using (MAVLinkInterface mine = new MAVLinkInterface()) using ( mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite)) ) { mine.logreadmode = true; while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length) { MAVLink.MAVLinkMessage packet = mine.readPacket(); if (packet.Length < 5) { continue; } try { if (MainV2.speechEngine != null) { MainV2.speechEngine.SpeakAsyncCancelAll(); } } catch { } if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT) { var loc = packet.ToStructure <MAVLink.mavlink_global_position_int_t>(); if (loc.lat == 0 || loc.lon == 0) { continue; } var id = MAVList.GetID(packet.sysid, packet.compid); if (!loc_list.ContainsKey(id)) { loc_list[id] = new List <PointLatLngAlt>(); } loc_list[id].Add(new PointLatLngAlt(loc.lat / 10000000.0f, loc.lon / 10000000.0f)); minx = Math.Min(minx, loc.lon / 10000000.0f); maxx = Math.Max(maxx, loc.lon / 10000000.0f); miny = Math.Min(miny, loc.lat / 10000000.0f); maxy = Math.Max(maxy, loc.lat / 10000000.0f); } } } } else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log")) { bool bin = logfile.ToLower().EndsWith(".bin"); BinaryLog binlog = new BinaryLog(); DFLog dflog = new DFLog(); using (var st = File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite)) { using (StreamReader sr = new StreamReader(st)) { loc_list[0] = new List <PointLatLngAlt>(); while (sr.BaseStream.Position < sr.BaseStream.Length) { string line = ""; if (bin) { line = binlog.ReadMessage(sr.BaseStream); } else { line = sr.ReadLine(); } if (line.StartsWith("FMT")) { dflog.FMTLine(line); } else if (line.StartsWith("GPS")) { var item = dflog.GetDFItemFromLine(line, 0); var lat = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lat")]); var lon = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lng")]); if (lat == 0 || lon == 0) { continue; } loc_list[0].Add(new PointLatLngAlt(lat, lon)); minx = Math.Min(minx, lon); maxx = Math.Max(maxx, lon); miny = Math.Min(miny, lat); maxy = Math.Max(maxy, lat); } } } } } if (loc_list.First().Value.Count > 10) { // add a bit of buffer var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001); var map = GetMap(area); var grap = Graphics.FromImage(map); Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink }; int a = 0; foreach (var locs in loc_list.Values) { PointF lastpoint = new PointF(); var pen = new Pen(colours[a % (colours.Length - 1)]); foreach (var loc in locs) { PointF newpoint = GetPixel(area, loc, map.Size); if (!lastpoint.IsEmpty) { grap.DrawLine(pen, lastpoint, newpoint); } lastpoint = newpoint; } a++; } map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg); map.Dispose(); map = null; } else { DoTextMap(logfile + ".jpg", "No gps data"); } } catch (Exception ex) { if (ex.ToString().Contains("Mavlink 0.9")) { DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9"); } continue; } } }