apps/camogm/camogm_kml.c

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/*!***************************************************************************
*! FILE NAME  : camogm_kml.c
*! DESCRIPTION: Provides writing to series of individual JPEG files for camogm
*! Copyright (C) 2007 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*!  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
*!  the Free Software Foundation, either version 3 of the License, or
*!  (at your option) any later version.
*!
*!  This program is distributed in the hope that it will be useful,
*!  but WITHOUT ANY WARRANTY; without even the implied warranty of
*!  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*!  GNU General Public License for more details.
*!
*!  You should have received a copy of the GNU General Public License
*!  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*!  $Log: camogm_kml.c,v $
*!  Revision 1.1.1.1  2008/11/27 20:04:01  elphel
*!
*!
*!  Revision 1.2  2008/04/13 21:05:20  elphel
*!  Fixing KML generation
*!
*!  Revision 1.1  2008/04/11 23:06:52  elphel
*!  files to handle KML generation
*!
*!
*/
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <fcntl.h>
#include <sys/uio.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/stat.h>
//#include <ctype.h>
//#include <getopt.h>
#include <time.h>
#include <string.h>

#include <netinet/in.h> /*little <-> big endian ?*/
#include <sys/mman.h>           /* mmap */
#include <sys/ioctl.h>

#include <asm/elphel/c313a.h>
#include <asm/elphel/ext353.h>
#include <asm/byteorder.h>


#include <ogg/ogg.h> // has to be before ogmstreams.h
#include "ogmstreams.h" // move it to <>?

#include "camogm_kml.h"
#include "camogm.h"
const char ExifDirFileName[]="/dev/exif_metadir";

int camogm_init_kml(void) {
  return 0;
}
void camogm_free_kml(void) {
}
/*
int camogm_start_mov(void) {

  if (!((state->frame_lengths=malloc(4*state->max_frames)))) return -CAMOGM_FRAME_MALLOC ;
   sprintf(state->path,"%s%010ld_%06ld.mov",state->path_prefix,state->frame_params.timestamp_sec,state->frame_params.timestamp_usec);
   if (((state->ivf=open(state->path,O_RDWR | O_CREAT, 0777)))<0){
     D0(fprintf (debug_file, "Error opening %s for writing, returned %d, errno=%d\n", state->path,state->ivf,errno));
     return -CAMOGM_FRAME_FILE_ERR;
   }
  state->frame_data_start=QUICKTIME_MIN_HEADER+16+ 4*(state->max_frames)+ ( 4*(state->max_frames))/(state->frames_per_chunk); // 8 bytes for "skip" tag
   lseek(state->ivf, state->frame_data_start, SEEK_SET);
  return 0;
}

*/
int camogm_start_kml(void) {
//  struct exif_dir_table_t kml_exif[ExifKmlNumber] ;  //! store locations of the fields needed for KML generations in the Exif block
   struct exif_dir_table_t dir_table_entry;
   int fd_ExifDir;
   int indx;
   for (indx=0;indx<ExifKmlNumber;indx++) state->kml_exif[indx].ltag=0;
   fd_ExifDir=open(ExifDirFileName,O_RDONLY);
   if (fd_ExifDir<0) { // check control OK
     D0(fprintf (debug_file,"Error opening %s\n", ExifDirFileName));
     return -CAMOGM_FRAME_FILE_ERR;
   }
   while (read(fd_ExifDir, &dir_table_entry, sizeof(dir_table_entry))>0) {
     switch (dir_table_entry.ltag) {
       case Exif_Photo_DateTimeOriginal:      indx= Exif_Photo_DateTimeOriginal_Index; break;
       case Exif_GPSInfo_GPSLatitudeRef:      indx= Exif_GPSInfo_GPSLatitudeRef_Index; break;
       case Exif_GPSInfo_GPSLatitude:         indx= Exif_GPSInfo_GPSLatitude_Index ; break;
       case Exif_GPSInfo_GPSLongitudeRef:     indx= Exif_GPSInfo_GPSLongitudeRef_Index ; break;
       case Exif_GPSInfo_GPSLongitude:        indx= Exif_GPSInfo_GPSLongitude_Index; break;
       case Exif_GPSInfo_GPSAltitudeRef:      indx= Exif_GPSInfo_GPSAltitudeRef_Index; break;
       case Exif_GPSInfo_GPSAltitude:         indx= Exif_GPSInfo_GPSAltitude_Index; break;
       case Exif_GPSInfo_GPSTimeStamp:        indx= Exif_GPSInfo_GPSTimeStamp_Index; break;
       case Exif_GPSInfo_GPSDateStamp:        indx= Exif_GPSInfo_GPSDateStamp_Index; break;
       case Exif_GPSInfo_CompassDirectionRef: indx= Exif_GPSInfo_CompassDirectionRef_Index; break;
       case Exif_GPSInfo_CompassDirection:    indx= Exif_GPSInfo_CompassDirection_Index; break;
       case Exif_GPSInfo_CompassPitchRef:     indx= Exif_GPSInfo_CompassPitchRef_Index; break;
       case Exif_GPSInfo_CompassPitch:        indx= Exif_GPSInfo_CompassPitch_Index; break;
       case Exif_GPSInfo_CompassRollRef:      indx= Exif_GPSInfo_CompassRollRef_Index; break;
       case Exif_GPSInfo_CompassRoll:         indx= Exif_GPSInfo_CompassRoll_Index; break;
       default: indx=-1;
     }
     if (indx>=0) {
           memcpy(&(state->kml_exif[indx]),&dir_table_entry,sizeof(dir_table_entry));
           D2(fprintf(debug_file,"indx=%02d, ltag=0x%05x, len=0x%03x, src=0x%03x, dst=0x%03x\n",indx, \
              (int) dir_table_entry.ltag, \
              (int) dir_table_entry.len, \
              (int) dir_table_entry.src, \
              (int) dir_table_entry.dst));
     }
   }
   close (fd_ExifDir);
   sprintf(state->kml_path,"%s%010ld_%06ld.kml",state->path_prefix,state->this_frame_params.timestamp_sec,state->this_frame_params.timestamp_usec);
   if (!((state->kml_file=fopen(state->kml_path,"w+"))) ){
     D0(fprintf (debug_file, "Error opening %s for writing\n", state->kml_path));
     return -CAMOGM_FRAME_FILE_ERR;
  }
  fprintf (state->kml_file,"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n" \
                            "<kml xmlns=\"http://earth.google.com/kml/2.2\">\n");
  fprintf (state->kml_file,"<Document>\n");
  state->kml_used= 1;
  return 0;
}

int camogm_frame_kml(void){
  char JPEGFileName[300];
  char * filename;
  int  fd_JPEG;
  int  i,j;
  ssize_t iovlen,l;
  struct iovec chunks_iovec[7];
  char datestr[11];
  double  longitude=0.0, latitude=0.0,  altitude=0.0,  heading=0.0,  tilt=0.0,  roll=0.0, pitch=0.0;
  int hours=0, minutes=0;
  double seconds=0.0;
  int * ip;
  if (state->kml_file) { // probably not needed
    i=state->this_frame_params.timestamp_sec - (state->kml_last_ts + state->kml_period);
    if ((i>1) || ((i==0) && ( state->this_frame_params.timestamp_usec > state->kml_last_uts  ))) {
//    if (state->this_frame_params.timestamp_sec > (state->kml_last_ts + state->kml_period)) { // this way it is safe to put kml_period=1000, then kml_period=1
      state->kml_last_ts=state->this_frame_params.timestamp_sec;
      state->kml_last_uts=state->this_frame_params.timestamp_usec;
      if (state->format==CAMOGM_FORMAT_JPEG) {
        strcpy (JPEGFileName, state->path);
      } else {
        sprintf(JPEGFileName,"%s%010ld_%06ld.jpeg",state->path_prefix,state->this_frame_params.timestamp_sec,state->this_frame_params.timestamp_usec);
        if (((fd_JPEG=open(JPEGFileName,O_RDWR | O_CREAT, 0777)))>=0){
          l=0;
          for (i=0; i< (state->chunk_index)-1; i++) {
            chunks_iovec[i].iov_base=state->packetchunks[i+1].chunk;
            chunks_iovec[i].iov_len= state->packetchunks[i+1].bytes;
            l+=chunks_iovec[i].iov_len;
          }
          iovlen=writev(fd_JPEG,chunks_iovec, (state->chunk_index)-1);
          if (iovlen < l) {
                 j=errno;
                 D0(fprintf(debug_file,"writev error %d (returned %d, expected %d)\n",j,iovlen,l));
                 close (fd_JPEG);
                 return -CAMOGM_FRAME_FILE_ERR;
          }
          close (fd_JPEG);
        } else {
          D0(fprintf (debug_file, "Error opening %s for writing, returned %d, errno=%d\n", JPEGFileName,fd_JPEG,errno));
          return -CAMOGM_FRAME_FILE_ERR;
        }
     }

     filename=strrchr(JPEGFileName, '/');
     filename[0]='\0';
     filename++;
     if (state->kml_exif[Exif_GPSInfo_GPSDateStamp_Index].ltag==Exif_GPSInfo_GPSDateStamp) { // Exif_GPSInfo_GPSDateStamp is present in template
       memcpy(datestr, &(state->ed[state->kml_exif[Exif_GPSInfo_GPSDateStamp_Index].dst]) ,10);
       datestr[4]='-';datestr[7]='-';datestr[10]='\0';
     }
     if (state->kml_exif[Exif_GPSInfo_GPSTimeStamp_Index].ltag==Exif_GPSInfo_GPSTimeStamp) { // Exif_GPSInfo_GPSTimeStamp is present in template
       ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_GPSTimeStamp_Index].dst]);
       hours=   __cpu_to_be32( ip[0]);
       minutes= __cpu_to_be32( ip[2]);
       seconds= (1.0*(__cpu_to_be32( ip[4])+1))/__cpu_to_be32( ip[5]); 
       D2(fprintf (debug_file,"(when) 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x\n",ip[0],ip[1],ip[2],ip[3],ip[4],ip[5]));
       D2(fprintf (debug_file,"(when) 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x\n",__cpu_to_be32(ip[0]), \
                                                                       __cpu_to_be32(ip[1]), \
                                                                       __cpu_to_be32(ip[2]), \
                                                                       __cpu_to_be32(ip[3]), \
                                                                       __cpu_to_be32(ip[4]), \
                                                                       __cpu_to_be32(ip[5])));
     }
     D1(fprintf (debug_file,"when=%sT%02d:%02d:%05.2fZ\n",datestr, hours, minutes, seconds));

     if (state->kml_exif[Exif_GPSInfo_GPSLongitude_Index].ltag==Exif_GPSInfo_GPSLongitude) { // Exif_GPSInfo_GPSLongitude is present in template
       ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_GPSLongitude_Index].dst]);
       longitude=__cpu_to_be32( ip[0])/(1.0*__cpu_to_be32( ip[1])) + __cpu_to_be32( ip[2])/(60.0*__cpu_to_be32( ip[3]));
       if ((state->kml_exif[Exif_GPSInfo_GPSLongitudeRef_Index].ltag==Exif_GPSInfo_GPSLongitudeRef) &&
           (state->ed[state->kml_exif[Exif_GPSInfo_GPSLongitudeRef_Index].dst] != 'E')) longitude=-longitude;
     D2(fprintf (debug_file,"(longitude) 0x%x 0x%x 0x%x 0x%x '%c'\n",ip[0],ip[1],ip[2],ip[3],state->ed[state->kml_exif[Exif_GPSInfo_GPSLongitudeRef_Index].dst]));
     }

     if (state->kml_exif[Exif_GPSInfo_GPSLatitude_Index].ltag==Exif_GPSInfo_GPSLatitude) { // Exif_GPSInfo_GPSLatitude is present in template
       ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_GPSLatitude_Index].dst]);
       latitude=__cpu_to_be32( ip[0])/(1.0*__cpu_to_be32( ip[1])) + __cpu_to_be32( ip[2])/(60.0*__cpu_to_be32( ip[3]));
       if ((state->kml_exif[Exif_GPSInfo_GPSLatitudeRef_Index].ltag==Exif_GPSInfo_GPSLatitudeRef) &&
           (state->ed[state->kml_exif[Exif_GPSInfo_GPSLatitudeRef_Index].dst] != 'N')) latitude=-latitude;
     D2(fprintf (debug_file,"(latitude) 0x%x 0x%x 0x%x 0x%x '%c'\n",ip[0],ip[1],ip[2],ip[3],state->ed[state->kml_exif[Exif_GPSInfo_GPSLatitudeRef_Index].dst]?'-':'+'));
     }
     if (state->kml_exif[Exif_GPSInfo_GPSAltitude_Index].ltag==Exif_GPSInfo_GPSAltitude) { // Exif_GPSInfo_GPSAltitude is present in template
       ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_GPSAltitude_Index].dst]);
       altitude=(1.0*__cpu_to_be32( ip[0]))/__cpu_to_be32( ip[1]);
       if ((state->kml_exif[Exif_GPSInfo_GPSAltitudeRef_Index].ltag==Exif_GPSInfo_GPSAltitudeRef) &&
           (state->ed[state->kml_exif[Exif_GPSInfo_GPSAltitudeRef_Index].dst] != '\0')) altitude=-altitude;
     D2(fprintf (debug_file,"(altitude) 0x%x 0x%x '%c'\n",ip[0],ip[1],state->ed[state->kml_exif[Exif_GPSInfo_GPSAltitudeRef_Index].dst]));
     }

     D1(fprintf (debug_file,"longitude=%f, latitude=%f, altitude=%f\n",longitude, latitude, altitude));

     if (state->kml_exif[Exif_GPSInfo_CompassDirection_Index].ltag==Exif_GPSInfo_CompassDirection) { // Exif_GPSInfo_CompassDirection is present in template
       ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_CompassDirection_Index].dst]);
       heading=(1.0*__cpu_to_be32( ip[0]))/__cpu_to_be32( ip[1]);
     D2(fprintf (debug_file,"(heading) 0x%x 0x%x\n",ip[0],ip[1]));
     }
     if (state->kml_exif[Exif_GPSInfo_CompassRoll_Index].ltag==Exif_GPSInfo_CompassRoll) { // Exif_GPSInfo_CompassRoll is present in template
       ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_CompassRoll_Index].dst]);
       roll=__cpu_to_be32( ip[0])/(1.0*__cpu_to_be32( ip[1])) + __cpu_to_be32( ip[2])/(60.0*__cpu_to_be32( ip[3]));
       if ((state->kml_exif[Exif_GPSInfo_CompassRollRef_Index].ltag==Exif_GPSInfo_CompassRollRef) &&
           (state->ed[state->kml_exif[Exif_GPSInfo_CompassRollRef_Index].dst] != EXIF_COMPASS_ROLL_ASCII[0])) roll=-roll;
     D2(fprintf (debug_file,"(roll) 0x%x 0x%x '%c'\n",ip[0],ip[1],state->ed[state->kml_exif[Exif_GPSInfo_CompassRollRef_Index].dst]));
     }

     if (state->kml_exif[Exif_GPSInfo_CompassPitch_Index].ltag==Exif_GPSInfo_CompassPitch) { // Exif_GPSInfo_CompassPitch is present in template
       ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_CompassPitch_Index].dst]);
       pitch=__cpu_to_be32( ip[0])/(1.0*__cpu_to_be32( ip[1])) + __cpu_to_be32( ip[2])/(60.0*__cpu_to_be32( ip[3]));
       if ((state->kml_exif[Exif_GPSInfo_CompassPitchRef_Index].ltag==Exif_GPSInfo_CompassPitchRef) &&
           (state->ed[state->kml_exif[Exif_GPSInfo_CompassPitchRef_Index].dst] !=  EXIF_COMPASS_PITCH_ASCII[0])) pitch=-pitch;
     D2(fprintf (debug_file,"(pitch) 0x%x 0x%x '%c'\n",ip[0],ip[1],state->ed[state->kml_exif[Exif_GPSInfo_CompassPitchRef_Index].dst]));
     }
     tilt=roll+90.0;
     if (tilt <0.0) tilt=0;
     else if (tilt > 180.0) tilt=180.0;
     D2(fprintf (debug_file,"heading=%f, roll=%f, pitch=%f, tilt=%f\n",heading, roll, pitch, tilt));

     altitude=(state->kml_height_mode?altitude:0.0)+state->kml_height;


     fprintf(state->kml_file,"<PhotoOverlay>\n" \
                             "  <shape>rectangle</shape>\n" \
                             "  <TimeStamp>\n" \
                             "     <when>%sT%02d:%02d:%05.2fZ</when>\n" \
                             "  </TimeStamp>\n" \
                             "  <Icon>\n" \
                             "    <href>%s</href>\n" \
                             "  </Icon>\n" \
                             " <Camera>\n" \
                             "   <longitude>%f</longitude>\n" \
                             "   <latitude>%f</latitude>\n" \
                             "   <altitude>%f</altitude>\n" \
                             "   <heading>%f</heading>\n" \
                             "   <tilt>%f</tilt>\n" \
                             "   <roll>%f</roll>\n" \
                             "   <altitudeMode>%s</altitudeMode>\n" \
                             "  </Camera>\n" \
                             "  <ViewVolume>\n" \
                             "    <leftFov>%f</leftFov>\n" \
                             "    <rightFov>%f</rightFov>\n" \
                             "    <bottomFov>%f</bottomFov>\n" \
                             "    <topFov>%f</topFov>\n" \
                             "    <near>%f</near>\n" \
                             "  </ViewVolume>\n" \
                             "</PhotoOverlay>\n", \
                             datestr, hours, minutes, seconds, \
                              filename, longitude,latitude,altitude,heading,tilt,roll,state->kml_height_mode?"absolute":"relativeToGround", \
                             -(state->kml_horHalfFov), state->kml_horHalfFov, -(state->kml_vertHalfFov), state->kml_vertHalfFov, state->kml_near);
    }
  }
  return 0;
}


int camogm_end_kml(void){

  if (state->kml_file) {
    fprintf (state->kml_file,"</Document>\n");
    fprintf (state->kml_file,"</kml>\n");
    fclose(state->kml_file);
    state->kml_file=NULL;
  }
  return 0;
}

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