"IFIELD LON_DECIMAL, \"\", \"%08.5f\"\n"
"IFIELD DESCRIPTION, \"\", \"%s\"\n"
+;
+static char flysight[] =
+"# Format: FlySight\n"
+"# Author: LukeH\n"
+"# Date: 10/10/10\n"
+
+"DESCRIPTION FlySight GPS File\n"
+"EXTENSION csv\n"
+
+"# FILE LAYOUT DEFINITIIONS:\n"
+"FIELD_DELIMITER COMMA\n"
+"RECORD_DELIMITER NEWLINE\n"
+"BADCHARS ,\"\n"
+
+"PROLOGUE time lat lon hMSL velN velE velD hAcc vAcc sAcc gpsFix numSV\n"
+"PROLOGUE\n"
+
+"# INDIVIDUAL DATA FIELDS, IN ORDER OF APPEARANCE:\n"
+"IFIELD ISO_TIME, \"\", \"%s\" # Date & time\n"
+"IFIELD LAT_DECIMAL, \"\", \"%f\" # Latitude\n"
+"IFIELD LON_DECIMAL, \"\", \"%f\" # Longitude\n"
+"IFIELD ALT_METERS, \"\", \"%.0f\" # Altitude above MSL (m)\n"
+"IFIELD IGNORE, \"\", \"%s\" # Velocity north (m/s)\n"
+"IFIELD IGNORE, \"\", \"%s\" # Velocity east (m/s)\n"
+"IFIELD IGNORE, \"\", \"%s\" # Velocity down (m/s)\n"
+"IFIELD IGNORE, \"\", \"%s\" # Horizontal accuracy (m)\n"
+"IFIELD IGNORE, \"\", \"%s\" # Vertical accuracy (m)\n"
+"IFIELD IGNORE, \"\", \"%s\" # Speed accuracy (m/s)\n"
+"IFIELD GPS_FIX, \"\", \"%s\" # GPS fix type\n"
+"IFIELD GPS_SAT, \"\", \"%d\" # Number of satellites used in fix\n"
;
static char fugawi[] =
"# fugawi XCSV style file\n"
"IFIELD IGNORE, \"\", \"%-.31s\"\n"
"IFIELD DESCRIPTION, \"\", \"%-.78s\"\n"
;
-style_vecs_t style_list[] = {{ "xmapwpt", xmapwpt } , { "xmap2006", xmap2006 } , { "xmap", xmap } , { "tomtom_itn_places", tomtom_itn_places } , { "tomtom_itn", tomtom_itn } , { "tomtom_asc", tomtom_asc } , { "tabsep", tabsep } , { "sportsim", sportsim } , { "saplus", saplus } , { "s_and_t", s_and_t } , { "ricoh", ricoh } , { "openoffice", openoffice } , { "nima", nima } , { "navigonwpt", navigonwpt } , { "mxf", mxf } , { "mapconverter", mapconverter } , { "kwf2", kwf2 } , { "ktf2", ktf2 } , { "kompass_wp", kompass_wp } , { "kompass_tk", kompass_tk } , { "igo2008_poi", igo2008_poi } , { "iblue747", iblue747 } , { "gpsman", gpsman } , { "gpsdrivetrack", gpsdrivetrack } , { "gpsdrive", gpsdrive } , { "geonet", geonet } , { "garmin_poi", garmin_poi } , { "garmin301", garmin301 } , { "fugawi", fugawi } , { "dna", dna } , { "custom", custom } , { "cup", cup } , { "csv", csv } , { "cambridge", cambridge } , { "arc", arc } , {0,0}};
-size_t nstyles = 35;
+style_vecs_t style_list[] = {{ "xmapwpt", xmapwpt } , { "xmap2006", xmap2006 } , { "xmap", xmap } , { "tomtom_itn_places", tomtom_itn_places } , { "tomtom_itn", tomtom_itn } , { "tomtom_asc", tomtom_asc } , { "tabsep", tabsep } , { "sportsim", sportsim } , { "saplus", saplus } , { "s_and_t", s_and_t } , { "ricoh", ricoh } , { "openoffice", openoffice } , { "nima", nima } , { "navigonwpt", navigonwpt } , { "mxf", mxf } , { "mapconverter", mapconverter } , { "kwf2", kwf2 } , { "ktf2", ktf2 } , { "kompass_wp", kompass_wp } , { "kompass_tk", kompass_tk } , { "igo2008_poi", igo2008_poi } , { "iblue747", iblue747 } , { "gpsman", gpsman } , { "gpsdrivetrack", gpsdrivetrack } , { "gpsdrive", gpsdrive } , { "geonet", geonet } , { "garmin_poi", garmin_poi } , { "garmin301", garmin301 } , { "fugawi", fugawi } , { "flysight", flysight } , { "dna", dna } , { "custom", custom } , { "cup", cup } , { "csv", csv } , { "cambridge", cambridge } , { "arc", arc } , {0,0}};
+size_t nstyles = 36;
#else /* CSVFMTS_ENABLED */
style_vecs_t style_list[] = {{0,0}};
size_t nstyles = 0;
2008 J.C Haessig, jean-christophe.haessig (at) dianosis.org
2009-09-06 | Josef Reisinger | Added "set target location", i.e. -i skytrag,targetlocation=<lat>:<lng>
+ 2010-10-23 | Josef Reisinger | Added read/write for miniHomer POI
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
gbuint8 MSG_SYSTEM_RESTART[15] =
{ 0x01, 0x01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+ db(2, "restart system\n");
return skytraq_wr_msg_verify(MSG_SYSTEM_RESTART, sizeof(MSG_SYSTEM_RESTART));
}
}
db(1, MYNAME ": Reading log data from device...\n");
+ db(1, MYNAME ": start=%d used=%d\n", opt_first_sector_val, sectors_used);
+ db(1, MYNAME ": opt_last_sector_val=%d\n", opt_last_sector_val);
for (i = opt_first_sector_val; i < sectors_used; i += got_sectors) {
for (t = 0, got_sectors = 0; (t < SECTOR_RETRIES) && (got_sectors <= 0); t++) {
if (atoi(opt_read_at_once) == 0 || multi_read_supported == 0) {
CET_CHARSET_UTF8, 1 /* master process: don't convert anything */
};
/**************************************************************************/
+/*
+ * support POI of skytraq based miniHomer device
+ * http://navin.com.tw/miniHomer.htm
+ * 2010-10-23 Josef Reisinger
+ */
+#ifdef MYNAME
+#undef MYNAME
+#endif
+#define MYNAME "miniHomer"
+static char *opt_set_poi_home = NULL; /* set if a "poi" option was used */
+static char *opt_set_poi_car = NULL; /* set if a "poi" option was used */
+static char *opt_set_poi_boat = NULL; /* set if a "poi" option was used */
+static char *opt_set_poi_heart = NULL; /* set if a "poi" option was used */
+static char *opt_set_poi_bar = NULL; /* set if a "poi" option was used */
+arglist_t miniHomer_args[] = {
+ { "baud", &opt_dlbaud, "Baud rate used for download", "115200", ARGTYPE_INT, "0", "115200" },
+ { "dump-file", &opt_dump_file, "Dump raw data to this file", NULL, ARGTYPE_OUTFILE, ARG_NOMINMAX },
+ { "erase", &opt_erase, "Erase device data after download", "0", ARGTYPE_BOOL, ARG_NOMINMAX },
+ { "first-sector", &opt_first_sector, "First sector to be read from the device", "0", ARGTYPE_INT, "0", "65535" },
+ { "initbaud", &opt_initbaud, "Baud rate used to init device (0=autodetect)", "38400", ARGTYPE_INT, "38400", "38400" },
+ { "last-sector", &opt_last_sector, "Last sector to be read from the device (-1: smart read everything)", "-1", ARGTYPE_INT, "-1", "65535" },
+ { "no-output", &opt_no_output, "Disable output (useful with erase)", "0", ARGTYPE_BOOL, ARG_NOMINMAX },
+ { "read-at-once", &opt_read_at_once, "Number of sectors to read at once (0=use single sector mode)", "255", ARGTYPE_INT, "0", "255" },
+ { "Home", &opt_set_poi_home, "POI for Home Symbol as lat:lng[:alt]", NULL, ARGTYPE_STRING, "", "" },
+ { "Car", &opt_set_poi_car, "POI for Car Symbol as lat:lng[:alt]", NULL, ARGTYPE_STRING, "", "" },
+ { "Boat", &opt_set_poi_boat, "POI for Boat Symbol as lat:lng[:alt]", NULL, ARGTYPE_STRING, "", "" },
+ { "Heart", &opt_set_poi_heart, "POI for Heart Symbol as lat:lng[:alt]", NULL, ARGTYPE_STRING, "", "" },
+ { "Bar", &opt_set_poi_bar, "POI for Bar Symbol as lat:lng[:alt]", NULL, ARGTYPE_STRING, "", "" },
+ ARG_TERMINATOR
+};
+/*
+ * Names of the POIs on miniHomer
+ */
+static char *poinames[] = {
+ "Home", "Car", "Boat", "Heart", "Bar"
+};
+#define NUMPOI (sizeof poinames/sizeof poinames[0])
+int getPoiByName(char *name) {
+ int i;
+ for (i=0; i<NUMPOI; i++) {
+ if (strcmp(poinames[i], name) == 0) return i;
+ }
+ return -1;
+}
+// Convert lla (lat, lng, alt) to ECEF
+// Algorith taken from these sources:
+// http://www.mathworks.com/matlabcentral/fileexchange/7942-covert-lat-lon-alt-to-ecef-cartesian
+// http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_geodetic
+// http://earth-info.nga.mil/GandG/publications/tr8350.2/wgs84fin.pdf
+void lla2ecef(double lat, double lng, double alt, double *ecef_x, double *ecef_y, double *ecef_z) {
+ long double n;
+ long double a = 6378137.0;
+ long double esqr = 6.69437999014e-3;
+ long double s;
+ long double llat, llng, lalt;
+
+ llat=lat*M_PI/180;
+ llng=lng*M_PI/180;
+ lalt=alt;
+
+ s=sin(llat);
+ n = a / sqrt(1 - esqr * s*s);
+
+ *ecef_x = (double)((n+lalt) * cos(llat) * cos(llng));
+ *ecef_y = (double)((n+lalt) * cos(llat) * sin(llng));
+ *ecef_z = (double)((n*(1-esqr) + lalt)* sin(llat));
+}
+static void miniHomer_get_poi()
+{
+ gbuint8 MSG_GET_POI[3] = { 0x4D, 0, 0};
+ gbuint8 buf[32];
+ int poi;
+ double lat, lng, alt;
+ double ecef_x, ecef_y, ecef_z;
+ waypoint *wpt;
+
+ for (poi=0; poi<NUMPOI; poi++) {
+ MSG_GET_POI[1]=(poi>>8)&0xff;
+ MSG_GET_POI[2]=(poi)&0xff;
+ if (skytraq_wr_msg_verify((gbuint8*)&MSG_GET_POI, sizeof(MSG_GET_POI)) != res_OK) {
+ warning(MYNAME ": cannot read poi %d '%s'\n", poi, poinames[poi]);
+ }
+ skytraq_rd_msg(buf, 25);
+ ecef_x=be_read_double(buf+1);
+ ecef_y=be_read_double(buf+9);
+ ecef_z=be_read_double(buf+17);
+
+ // todo - how to determine not-set POIs ?
+ if (ecef_x < 100.0 && ecef_y < 100.0 && ecef_z < 100.0) {
+ db(2, MYNAME" : skipped poi %d for X=%f, y=%f, Z=%f\n", ecef_x, ecef_y, ecef_z);
+ } else {
+ ECEF_to_LLA (ecef_x, ecef_y, ecef_z, &lat, &lng, &alt);
+
+ wpt = waypt_new();
+ xasprintf(&wpt->shortname, "POI_%s", poinames[poi]);
+ xasprintf(&wpt->description, "miniHomer points to this coordinates if the %s symbol is on", poi, poinames[poi]);
+ wpt->latitude = lat;
+ wpt->longitude = lng;
+ wpt->altitude = alt;
+ waypt_add(wpt);
+ db(1, MYNAME ": got POI[%s]='%f %f %f/%f %f %f'\n", poinames[poi], lat, lng, alt, ecef_x, ecef_y, ecef_z);
+ }
+ }
+}
+/*
+ * set lla (lat/lng/alt) specified as <lat>:<lng>[:<alt] for a given poi [0..4] in miniHomer
+ * returns
+ * 1 if poi was set
+ * 0 if opt_poi was not set
+ * -1 in case of errors
+ * the number of the POI will not be checked - if it is not correct, miniHome will send NACK
+ */
+static int miniHomer_set_poi(gbuint16 poinum, const char *opt_poi)
+{
+#define MSG_SET_POI_SIZE (sizeof(gbuint8)+sizeof(gbuint16)+3*sizeof(double)+sizeof(gbuint8))
+ gbuint8 MSG_SET_POI[MSG_SET_POI_SIZE] = {
+ 0x4C, 0, 0, // cmd + poi (u16)
+ 0, 0, 0, 0, 0, 0, 0, 0, //lat (double ecef)
+ 0, 0, 0, 0, 0, 0, 0, 0, //lng (double ecef)
+ 0, 0, 0, 0, 0, 0, 0, 0, //alt (double ecef)
+ 0 // attr (u8, 1-> to flash, 0->ro sram)
+ };
+ int n, result;
+ double lat, lng, alt;
+ double ecef_x, ecef_y, ecef_z;
+
+
+ result=0; // result will be 0 if opt_poi isn't set
+ if (opt_poi) { // first check opt_poi
+ if (*opt_poi) {
+ lat=lng=alt=0.0;
+ /*
+ * parse format of <lat>:<lng>[:alt]
+ * we assume at least two elements in the value string
+ */
+ n = sscanf(opt_poi, "%lf:%lf:%lf", &lat, &lng, &alt);
+ if (n >= 2) {
+ db(3, "found %d elems '%s':poi=%s@%d, lat=%f, lng=%f, alt=%f over=%s\n", n, opt_poi, poinames[poinum], poinum, lat, lng, alt);
+ lla2ecef(lat, lng, alt, &ecef_x, &ecef_y, &ecef_z);
+ db(1, MYNAME ": set POI[%s]='%f %f %f/%f %f %f'\n", poinames[poinum], lat, lng, alt, ecef_x, ecef_y, ecef_z);
+ be_write16(MSG_SET_POI+1, poinum);
+ be_write_double(MSG_SET_POI+3, ecef_x);
+ be_write_double(MSG_SET_POI+11, ecef_y);
+ be_write_double(MSG_SET_POI+19, ecef_z);
+ MSG_SET_POI[27]=0;
+ if (skytraq_wr_msg_verify((gbuint8*)&MSG_SET_POI, sizeof(MSG_SET_POI)) == res_OK) {
+ result=1;
+ } else {
+ warning(MYNAME ": cannot set poi %d '%s'\n", poinum, poinames[poinum]);
+ result=-1;
+ }
+ } else {
+ warning(MYNAME ": argument to %s needs to be like <lat>:<lng>[:<alt>]\n", poinames[poinum]);
+ result=-1;
+ }
+ }
+ }
+ return result;
+}
+static const char *mhport;
+static void
+miniHomer_rd_init(const char *fname)
+{
+ opt_set_location=""; // otherwise it will lead to bus error
+ skytraq_rd_init(fname); // sets global var serial_handle
+ mhport=fname;
+}
+static void
+miniHomer_rd_deinit(void)
+{
+ skytraq_rd_deinit();
+}
+#define SETPOI(poinum, poiname) if (opt_set_poi_##poiname ) {miniHomer_set_poi(poinum, opt_set_poi_##poiname);}
+static void
+miniHomer_read(void)
+{
+ int npoi=0;
+ /*
+ * read tracks and POI from miniHomer
+ */
+ if (miniHomer_set_poi (0, opt_set_poi_home) > 0) npoi++;
+ if (miniHomer_set_poi (1, opt_set_poi_car) > 0) npoi++;
+ if (miniHomer_set_poi (2, opt_set_poi_boat) > 0) npoi++;
+ if (miniHomer_set_poi (3, opt_set_poi_heart) > 0) npoi++;
+ if (miniHomer_set_poi (4, opt_set_poi_bar) > 0) npoi++;
+ if (npoi == 0) { // do not read if POIs are set (consider set & read distinct operations)
+ skytraq_read(); // first read tracks (if not supressed by cmd line params)
+ // we need this call it initialized waypoint list etc...
+ skytraq_rd_deinit(); // skytraq_read called system_reset, which changes the baud rate.
+
+ skytraq_rd_init(mhport); // Lets start from scratch and re-init the port
+ miniHomer_get_poi(); // add POI as waypoints to the waypoints of the track
+ }
+}
+
+ff_vecs_t miniHomer_vecs = {
+ ff_type_serial,
+ {
+ ff_cap_read /* waypoints */,
+ ff_cap_read /* tracks */,
+ ff_cap_none /* routes */
+ },
+ miniHomer_rd_init,
+ NULL,
+ miniHomer_rd_deinit,
+ NULL,
+ miniHomer_read,
+ NULL,
+ NULL,
+ miniHomer_args,
+ CET_CHARSET_UTF8, 1 /* master process: don't convert anything */
+
+};
projects / gpsbabel.git / commitdiff