/**
* @brief KmlExport::createTimespanPlacemark Creates a timespan placemark, which allows the
* trajectory to be played forward in time. The placemark also contains pertinent data about
* the vehicle's state at that timespan
* @param timestampPoint
* @param lastPlacemarkTime
* @param newPlacemarkTime
* @return Returns the placemark containing the timespan
*/
PlacemarkPtr KmlExport::createTimespanPlacemark(const LLAVCoordinates ×tampPoint, quint32 lastPlacemarkTime, quint32 newPlacemarkTime)
{
// Create coordinates
CoordinatesPtr coordinates = factory->CreateCoordinates();
coordinates->add_latlngalt(timestampPoint.latitude, timestampPoint.longitude, timestampPoint.altitude);
// Create point, using previous coordinates
PointPtr point = factory->CreatePoint();
point->set_extrude(true); // Extrude to ground
point->set_altitudemode(kmldom::ALTITUDEMODE_ABSOLUTE);
point->set_coordinates(coordinates);
// Create the timespan
TimeSpanPtr timeSpan = factory->CreateTimeSpan();
QDateTime startTime = QDateTime::currentDateTimeUtc().addMSecs(lastPlacemarkTime); // FIXME: Make it a function of the realtime preferably gotten from the GPS
QDateTime endTime = QDateTime::currentDateTimeUtc().addMSecs(newPlacemarkTime);
timeSpan->set_begin(startTime.toString(dateTimeFormat).toStdString());
timeSpan->set_end(endTime.toString(dateTimeFormat).toStdString());
// Create an icon style. This arrow icon will be rotated and colored to represent velocity
AttitudeActual::DataFields attitudeActualData = attitudeActual->getData();
AirspeedActual::DataFields airspeedActualData = airspeedActual->getData();
IconStylePtr iconStyle = factory->CreateIconStyle();
iconStyle->set_color(mapVelocity2Color(airspeedActualData.CalibratedAirspeed));
iconStyle->set_heading(attitudeActualData.Yaw + 180); //Adding 180 degrees because the arrow art points down, i.e. south.
// Create a line style. This defines the style for the "legs" connecting the points to the ground.
LineStylePtr lineStyle = factory->CreateLineStyle();
lineStyle->set_color(mapVelocity2Color(timestampPoint.groundspeed));
// Link the style to the icon
StylePtr style = factory->CreateStyle();
style->set_linestyle(lineStyle);
style->set_iconstyle(iconStyle);
// Generate the placemark with all above attributes
PlacemarkPtr placemark = factory->CreatePlacemark();
placemark->set_geometry(point);
placemark->set_timeprimitive(timeSpan);
placemark->set_name(QString("%1").arg(timeStamp / 1000.0).toStdString());
placemark->set_visibility(true);
// Set the placemark to use the custom rotated arrow style
placemark->set_styleurl("#directiveArrowStyle");
placemark->set_styleselector(style);
// Add a nice description to the placemark
placemark->set_description(informationString.toStdString());
return placemark;
}
/**
* @brief KmlExport::exportToKML Triggers logfile export to KML.
*/
bool KmlExport::exportToKML()
{
bool ret = open();
if (!ret) {
qDebug () << "Logfile failed to open during KML export";
return false;
}
// Parses logfile and generates KML document
ret = preparseLogFile();
if (!ret) {
qDebug () << "Logfile preparsing failed";
return false;
}
// Call parser.
parseLogFile();
// Add track to <Document>
document->add_feature(trackFolder);
// Add timespans to <Document>
document->add_feature(timestampFolder);
// Add ground track to <Document>
{
LineStringPtr linestring = factory->CreateLineString();
linestring->set_extrude(false); // Do not extrude to ground
linestring->set_altitudemode(kmldom::ALTITUDEMODE_CLAMPTOGROUND);
linestring->set_coordinates(wallAxes[0]);
MultiGeometryPtr multiGeometry = factory->CreateMultiGeometry();
multiGeometry->add_geometry(linestring);
PlacemarkPtr placemark = factory->CreatePlacemark();
placemark->set_geometry(multiGeometry);
placemark->set_styleurl("#ts_2_tb");
placemark->set_name("Ground track");
document->add_feature(placemark);
}
// Add wall axes to <Document>
FolderPtr folder = factory->CreateFolder();
for (int i=0; i<numberOfWallAxes; i++) {
LineStringPtr linestring = factory->CreateLineString();
linestring->set_extrude(false); // Do not extrude to ground
linestring->set_altitudemode(kmldom::ALTITUDEMODE_ABSOLUTE);
linestring->set_coordinates(wallAxes[i]);
MultiGeometryPtr multiGeometry = factory->CreateMultiGeometry();
multiGeometry->add_geometry(linestring);
PlacemarkPtr placemark = factory->CreatePlacemark();
placemark->set_geometry(multiGeometry);
placemark->set_styleurl("#ts_1_tb");
folder->add_feature(placemark);
folder->set_name("Wall axes");
}
document->add_feature(folder);
// Create <kml> and give it <Document>.
KmlPtr kml = factory->CreateKml();
kml->set_feature(document); // kml takes ownership.
// Serialize to XML
std::string kml_data = kmldom::SerializePretty(kml);
// Save to file
if (QFileInfo(outputFileName).suffix().toLower() == "kmz") {
if (!kmlengine::KmzFile::WriteKmz(outputFileName.toStdString().c_str(), kml_data)) {
qDebug() << "KMZ write failed: " << outputFileName;
QMessageBox::critical(new QWidget(),"KMZ write failed", "Failed to write KMZ file.");
return false;
}
} else if (QFileInfo(outputFileName).suffix().toLower() == "kml") {
if (!kmlbase::File::WriteStringToFile(kml_data, outputFileName.toStdString())) {
qDebug() << "KML write failed: " << outputFileName;
QMessageBox::critical(new QWidget(),"KML write failed", "Failed to write KML file.");
return false;
}
} else {
qDebug() << "Write failed. Invalid file name:" << outputFileName;
QMessageBox::critical(new QWidget(),"Write failed", "Failed to write file. Invalid filename");
return false;
}
return true;
}
