| public GetDFItemFromLine ( string line, int lineno ) : DFItem | ||
| line | string | |
| lineno | int | |
| Результат | DFItem | |
public DFItem GetDFItemFromLine(string line, int lineno)
{
//line = line.Replace(",", ",");
//line = line.Replace(":", ":");
string[] items = line.Trim().Split(new char[] {',', ':'}, StringSplitOptions.RemoveEmptyEntries);
if (line.StartsWith("FMT"))
{
FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
if (line.StartsWith("GPS") && gpsstarttime == DateTime.MinValue)
{
var time = GetTimeGPS(line);
if (time != DateTime.MinValue)
{
gpsstarttime = time;
lasttime = gpsstarttime;
int indextimems = FindMessageOffset(items[0], "T");
if (indextimems != -1)
{
try
{
msoffset = int.Parse(items[indextimems]);
}
catch
{
gpsstarttime = DateTime.MinValue;
}
}
int indextimeus = FindMessageOffset(items[0], "TimeUS");
if (indextimeus != -1)
{
try
{
msoffset = long.Parse(items[indextimeus])/1000;
}
catch
{
gpsstarttime = DateTime.MinValue;
}
}
}
}
}
else if (line.StartsWith("ERR"))
{
Array.Resize(ref items, items.Length + 2);
try
{
int index = FindMessageOffset("ERR", "Subsys");
if (index == -1)
{
throw new ArgumentNullException();
}
int index2 = FindMessageOffset("ERR", "ECode");
if (index2 == -1)
{
throw new ArgumentNullException();
}
items[items.Length - 2] = "" + (DFLog.error_subsystem) int.Parse(items[index]);
}
catch
{
}
}
else if (line.StartsWith("EV"))
{
Array.Resize(ref items, items.Length + 1);
try
{
int index = FindMessageOffset("EV", "Id");
if (index == -1)
{
throw new ArgumentNullException();
}
items[items.Length - 1] = "" + (DFLog.events) int.Parse(items[index]);
}
catch
{
}
}
else if (line.StartsWith("MAG"))
{
}
DFItem item = new DFItem();
try
{
item.lineno = lineno;
if (items.Length > 0)
{
item.msgtype = items[0];
item.items = items;
bool timeus = false;
if (logformat.ContainsKey(item.msgtype))
{
int indextimems = FindMessageOffset(item.msgtype, "TimeMS");
if (item.msgtype.StartsWith("GPS"))
{
indextimems = FindMessageOffset(item.msgtype, "T");
}
if (indextimems == -1)
{
indextimems = FindMessageOffset(item.msgtype, "TimeUS");
timeus = true;
}
if (indextimems != -1)
{
long ntime = 0;
if (long.TryParse(items[indextimems], out ntime))
{
if (timeus)
ntime /= 1000;
item.timems = (int) ntime;
if (gpsstarttime != DateTime.MinValue)
{
item.time = gpsstarttime.AddMilliseconds(item.timems - msoffset);
lasttime = item.time;
}
}
else
{
item.time = lasttime;
}
}
else
{
item.time = lasttime;
}
}
}
}
catch
{
}
return item;
}
public static void MapLogs(string[] logs)
{
foreach (var logfile in logs)
{
if (File.Exists(logfile + ".jpg"))
{
continue;
}
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
List <PointLatLngAlt> locs = new List <PointLatLngAlt>();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
MAVLinkInterface mine = new MAVLinkInterface();
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
if (packet.Length < 5)
{
continue;
}
try
{
if (MainV2.speechEngine != null)
{
MainV2.speechEngine.SpeakAsyncCancelAll();
}
}
catch { }
if (packet[5] == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ByteArrayToStructure <MAVLink.mavlink_global_position_int_t>(6);
if (loc.lat == 0 || loc.lon == 0)
{
continue;
}
locs.Add(new PointLatLngAlt(loc.lat / 10000000.0f, loc.lon / 10000000.0f));
minx = Math.Min(minx, loc.lon / 10000000.0f);
maxx = Math.Max(maxx, loc.lon / 10000000.0f);
miny = Math.Min(miny, loc.lat / 10000000.0f);
maxy = Math.Max(maxy, loc.lat / 10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
bool bin = logfile.ToLower().EndsWith(".bin");
using (var st = File.OpenRead(logfile))
{
using (StreamReader sr = new StreamReader(st))
{
while (sr.BaseStream.Position < sr.BaseStream.Length)
{
string line = "";
if (bin)
{
line = BinaryLog.ReadMessage(sr.BaseStream);
}
else
{
line = sr.ReadLine();
}
if (line.StartsWith("FMT"))
{
DFLog.FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
var item = DFLog.GetDFItemFromLine(line, 0);
var lat = double.Parse(item.items[DFLog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[DFLog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0)
{
continue;
}
locs.Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
}
if (locs.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
PointF lastpoint = new PointF();
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
{
grap.DrawLine(Pens.Red, lastpoint, newpoint);
}
lastpoint = newpoint;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
{
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
}
continue;
}
}
}
