| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "KmlLogger.hpp" | ||
| 10 | |||
| 11 | #include <imgui.h> | ||
| 12 | #include <implot_internal.h> | ||
| 13 | |||
| 14 | #include "Navigation/Transformations/Units.hpp" | ||
| 15 | #include "Navigation/Geoid/EGM96.hpp" | ||
| 16 | #include "NodeData/NodeData.hpp" | ||
| 17 | |||
| 18 | #include "NodeData/State/Pos.hpp" | ||
| 19 | #include "internal/Node/Pin.hpp" | ||
| 20 | #include "util/Logger.hpp" | ||
| 21 | |||
| 22 | #include <algorithm> | ||
| 23 | #include <iomanip> // std::setprecision | ||
| 24 | #include <memory> | ||
| 25 | |||
| 26 | #include "internal/NodeManager.hpp" | ||
| 27 | namespace nm = NAV::NodeManager; | ||
| 28 | #include "internal/FlowManager.hpp" | ||
| 29 | #include "NodeRegistry.hpp" | ||
| 30 | |||
| 31 | 112 | NAV::KmlLogger::KmlLogger() | |
| 32 |
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112 | : Node(typeStatic()) |
| 33 | { | ||
| 34 | LOG_TRACE("{}: called", name); | ||
| 35 | |||
| 36 | 112 | _fileType = FileType::ASCII; | |
| 37 | |||
| 38 | 112 | _hasConfig = true; | |
| 39 | 112 | _guiConfigDefaultWindowSize = { 380, 70 }; | |
| 40 | 112 | } | |
| 41 | |||
| 42 | 224 | NAV::KmlLogger::~KmlLogger() | |
| 43 | { | ||
| 44 | LOG_TRACE("{}: called", nameId()); | ||
| 45 | 224 | } | |
| 46 | |||
| 47 | 224 | std::string NAV::KmlLogger::typeStatic() | |
| 48 | { | ||
| 49 |
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448 | return "KmlLogger"; |
| 50 | } | ||
| 51 | |||
| 52 | ✗ | std::string NAV::KmlLogger::type() const | |
| 53 | { | ||
| 54 | ✗ | return typeStatic(); | |
| 55 | } | ||
| 56 | |||
| 57 | 112 | std::string NAV::KmlLogger::category() | |
| 58 | { | ||
| 59 |
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224 | return "Data Logger"; |
| 60 | } | ||
| 61 | |||
| 62 | ✗ | void NAV::KmlLogger::guiConfig() | |
| 63 | { | ||
| 64 | ✗ | if (FileWriter::guiConfig(".kml", { ".kml" }, size_t(id), nameId())) | |
| 65 | { | ||
| 66 | ✗ | flow::ApplyChanges(); | |
| 67 | ✗ | doDeinitialize(); | |
| 68 | } | ||
| 69 | ✗ | if (_dynamicInputPins.ShowGuiWidgets(size_t(id), inputPins, this)) | |
| 70 | { | ||
| 71 | ✗ | flow::ApplyChanges(); | |
| 72 | } | ||
| 73 | ✗ | } | |
| 74 | |||
| 75 | ✗ | [[nodiscard]] json NAV::KmlLogger::save() const | |
| 76 | { | ||
| 77 | LOG_TRACE("{}: called", nameId()); | ||
| 78 | |||
| 79 | ✗ | json j; | |
| 80 | |||
| 81 | ✗ | j["dynamicInputPins"] = _dynamicInputPins; | |
| 82 | ✗ | j["FileWriter"] = FileWriter::save(); | |
| 83 | |||
| 84 | ✗ | return j; | |
| 85 | ✗ | } | |
| 86 | |||
| 87 | ✗ | void NAV::KmlLogger::restore(json const& j) | |
| 88 | { | ||
| 89 | LOG_TRACE("{}: called", nameId()); | ||
| 90 | |||
| 91 | ✗ | if (j.contains("dynamicInputPins")) | |
| 92 | { | ||
| 93 | ✗ | NAV::gui::widgets::from_json(j.at("dynamicInputPins"), _dynamicInputPins, this); | |
| 94 | } | ||
| 95 | ✗ | if (j.contains("FileWriter")) | |
| 96 | { | ||
| 97 | ✗ | FileWriter::restore(j.at("FileWriter")); | |
| 98 | } | ||
| 99 | ✗ | } | |
| 100 | |||
| 101 | ✗ | void NAV::KmlLogger::flush() | |
| 102 | { | ||
| 103 | // See https://developers.google.com/kml/documentation/kml_tut#paths | ||
| 104 | ✗ | LOG_DEBUG("{}: Received all data. Writing file now...", nameId()); | |
| 105 | _filestream << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n" | ||
| 106 | "<kml xmlns=\"http://earth.google.com/kml/2.2\">\n" | ||
| 107 | "<Document>\n" | ||
| 108 | "<Style id=\"P0\">\n" | ||
| 109 | " <IconStyle>\n" | ||
| 110 | " <color>ffffffff</color>\n" | ||
| 111 | " <scale>0.3</scale>\n" | ||
| 112 | " <Icon><href>http://maps.google.com/mapfiles/kml/pal2/icon18.png</href></Icon>\n" | ||
| 113 | " </IconStyle>\n" | ||
| 114 | "</Style>\n" | ||
| 115 | "<Style id=\"P2\">\n" | ||
| 116 | " <IconStyle>\n" | ||
| 117 | " <color>ff00aaff</color>\n" | ||
| 118 | " <scale>0.2</scale>\n" | ||
| 119 | " <Icon><href>http://maps.google.com/mapfiles/kml/pal2/icon18.png</href></Icon>\n" | ||
| 120 | " </IconStyle>\n" | ||
| 121 | ✗ | "</Style>\n"; | |
| 122 | |||
| 123 | ✗ | ImPlotContext& gp = *ImPlot::GetCurrentContext(); | |
| 124 | ✗ | int cmap = gp.Style.Colormap; // Current selected colormap | |
| 125 | ✗ | int nColors = gp.ColormapData.GetKeyCount(cmap); | |
| 126 | |||
| 127 | ✗ | for (size_t i = 0; i < _positionData.size(); i++) | |
| 128 | { | ||
| 129 | ✗ | int cidx = static_cast<int>(i) % nColors; | |
| 130 | ✗ | ImColor color(gp.ColormapData.GetKeyColor(cmap, cidx)); | |
| 131 | ✗ | _filestream << "<Style id=\"line" << i << "\">\n" | |
| 132 | << " <LineStyle>\n" | ||
| 133 | " <color>" // ff00aaff | ||
| 134 | ✗ | << fmt::format("{:02x}{:02x}{:02x}{:02x}", | |
| 135 | ✗ | static_cast<int>(color.Value.w * 255.0F), | |
| 136 | ✗ | static_cast<int>(color.Value.z * 255.0F), | |
| 137 | ✗ | static_cast<int>(color.Value.y * 255.0F), | |
| 138 | ✗ | static_cast<int>(color.Value.x * 255.0F)) | |
| 139 | << "</color>\n" | ||
| 140 | " <width>1</width>\n" | ||
| 141 | " </LineStyle>\n" | ||
| 142 | ✗ | "</Style>\n"; | |
| 143 | } | ||
| 144 | |||
| 145 | ✗ | for (size_t i = 0; i < _positionData.size(); i++) | |
| 146 | { | ||
| 147 | ✗ | const auto& posData = _positionData.at(i); | |
| 148 | ✗ | if (posData.empty()) { continue; } | |
| 149 | |||
| 150 | ✗ | if (posData.size() > 1) // Track | |
| 151 | { | ||
| 152 | _filestream << "<Placemark>\n" | ||
| 153 | ✗ | << "<name>" << inputPins.at(i).name << " Track</name>\n" | |
| 154 | ✗ | << "<styleUrl>#line" << i << "</styleUrl>\n" | |
| 155 | << "<LineString>\n" | ||
| 156 | << "<altitudeMode>absolute</altitudeMode>\n" | ||
| 157 | ✗ | "<coordinates>\n"; | |
| 158 | ✗ | for (const auto& lla : posData) | |
| 159 | { | ||
| 160 | ✗ | fmt::print(_filestream, "{:.9f},{:.9f},{:.3f}\n", lla.y(), lla.x(), lla.z()); | |
| 161 | } | ||
| 162 | |||
| 163 | _filestream << "</coordinates>\n" | ||
| 164 | "</LineString>\n" | ||
| 165 | ✗ | "</Placemark>\n"; | |
| 166 | } | ||
| 167 | |||
| 168 | // Position | ||
| 169 | { | ||
| 170 | ✗ | if (posData.size() > 1) | |
| 171 | { | ||
| 172 | _filestream << "<Folder>\n" | ||
| 173 | ✗ | << "<name>" << inputPins.at(i).name << " Position</name>\n" | |
| 174 | ✗ | << "<visibility>0</visibility>"; | |
| 175 | } | ||
| 176 | ✗ | for (const auto& lla : posData) | |
| 177 | { | ||
| 178 | ✗ | _filestream << "<Placemark>\n"; | |
| 179 | ✗ | if (posData.size() > 1) | |
| 180 | { | ||
| 181 | ✗ | _filestream << "<styleUrl>#P2</styleUrl>\n"; | |
| 182 | } | ||
| 183 | else | ||
| 184 | { | ||
| 185 | ✗ | _filestream << "<name>" << inputPins.at(i).name << " Position</name>\n"; | |
| 186 | ✗ | _filestream << "<styleUrl>#P0</styleUrl>\n"; | |
| 187 | } | ||
| 188 | _filestream << "<Point>\n" | ||
| 189 | "<extrude>1</extrude>\n" | ||
| 190 | "<altitudeMode>absolute</altitudeMode>\n" | ||
| 191 | ✗ | << "<coordinates>"; | |
| 192 | ✗ | fmt::print(_filestream, "{:.9f},{:.9f},{:.3f}", lla.y(), lla.x(), lla.z()); // | |
| 193 | _filestream << "</coordinates>\n" | ||
| 194 | "</Point>\n" | ||
| 195 | ✗ | "</Placemark>\n"; | |
| 196 | } | ||
| 197 | ✗ | if (posData.size() > 1) | |
| 198 | { | ||
| 199 | ✗ | _filestream << "</Folder>\n"; | |
| 200 | } | ||
| 201 | } | ||
| 202 | } | ||
| 203 | |||
| 204 | _filestream << "</Document>\n" | ||
| 205 | ✗ | << "</kml>\n"; | |
| 206 | ✗ | _filestream.flush(); | |
| 207 | ✗ | } | |
| 208 | |||
| 209 | ✗ | bool NAV::KmlLogger::initialize() | |
| 210 | { | ||
| 211 | LOG_TRACE("{}: called", nameId()); | ||
| 212 | |||
| 213 | ✗ | if (!FileWriter::initialize()) | |
| 214 | { | ||
| 215 | ✗ | return false; | |
| 216 | } | ||
| 217 | |||
| 218 | ✗ | for (auto& posData : _positionData) | |
| 219 | { | ||
| 220 | ✗ | posData.clear(); | |
| 221 | } | ||
| 222 | |||
| 223 | ✗ | return true; | |
| 224 | } | ||
| 225 | |||
| 226 | ✗ | void NAV::KmlLogger::deinitialize() | |
| 227 | { | ||
| 228 | LOG_TRACE("{}: called", nameId()); | ||
| 229 | |||
| 230 | ✗ | FileWriter::deinitialize(); | |
| 231 | ✗ | } | |
| 232 | |||
| 233 | 112 | void NAV::KmlLogger::pinAddCallback(Node* node) | |
| 234 | { | ||
| 235 | 112 | auto* kmlNode = static_cast<KmlLogger*>(node); // NOLINT(cppcoreguidelines-pro-type-static-cast-downcast) | |
| 236 | |||
| 237 |
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448 | nm::CreateInputPin(node, fmt::format("Pin {}", node->inputPins.size() + 1).c_str(), Pin::Type::Flow, |
| 238 | { Pos::type() }, | ||
| 239 | &KmlLogger::writeObservation); | ||
| 240 | |||
| 241 | 112 | kmlNode->_positionData.emplace_back(); | |
| 242 | 224 | } | |
| 243 | |||
| 244 | ✗ | void NAV::KmlLogger::pinDeleteCallback(Node* node, size_t pinIdx) | |
| 245 | { | ||
| 246 | ✗ | auto* kmlNode = static_cast<KmlLogger*>(node); // NOLINT(cppcoreguidelines-pro-type-static-cast-downcast) | |
| 247 | |||
| 248 | ✗ | kmlNode->_positionData.erase(std::next(kmlNode->_positionData.begin(), static_cast<int64_t>(pinIdx))); | |
| 249 | |||
| 250 | ✗ | nm::DeleteInputPin(node->inputPins.at(pinIdx)); | |
| 251 | ✗ | } | |
| 252 | |||
| 253 | ✗ | void NAV::KmlLogger::writeObservation(NAV::InputPin::NodeDataQueue& queue, size_t pinIdx) | |
| 254 | { | ||
| 255 | ✗ | auto obs = std::static_pointer_cast<const Pos>(queue.extract_front()); | |
| 256 | LOG_DATA("{}: [{}] Received data {}", nameId(), obs->insTime.toYMDHMS(GPST), egm96_compute_altitude_offset(obs->latitude(), obs->longitude())); | ||
| 257 | |||
| 258 | ✗ | _positionData.at(pinIdx).emplace_back(rad2deg(obs->latitude()), | |
| 259 | ✗ | rad2deg(obs->longitude()), | |
| 260 | ✗ | obs->altitude() - egm96_compute_altitude_offset(obs->latitude(), obs->longitude())); | |
| 261 | ✗ | } | |
| 262 |