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260babel.pl
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260babel.pl
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#!/usr/bin/perl -w
#
# 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 2
# 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, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#
# Author: Alexander Zaitsev <shura0@yandex.ru>
# Some pieces are written by Niccolo Rigacci <niccolo@rigacci.org>
#
# Version: 0.3.3 2014-10-05
#
# Control program for GPS logger Holux GPSport260
use Date::Format;
use Date::Parse;
use Device::SerialPort;
use File::Basename;
use Getopt::Std;
use utf8;
use strict;
my $NAME = basename($0);
use vars qw($opt_b $opt_B $opt_d $opt_f $opt_h $opt_l $opt_m $opt_p $opt_r $opt_s $opt_u $opt_v);
# For tracks list
my $LIST_NAME_OFFSET=4;
my $LIST_TIME_OFFSET=16;
my $LIST_LENGTH_OFFSET=24;
my $LIST_MEM_START_OFFSET=28;
my $LIST_MEM_LENGTH_OFFSET=32;
my $LIST_NAME_LENGTH=11;
#For track file
my $TRACK_TIME_OFFSET=0;
my $TRACK_LAT_OFFSET=4;
my $TRACK_LON_OFFSET=8;
my $TRACK_HEIGHT_OFFSET=12;
my $TRACK_SPEED_OFFSET=14;
my $TRACK_FLAGS_OFFSET=17;
my $TRACK_HEARTRATE_OFFSET=18;
my $TRACK_ALTIMETER_OFFSET=20;
my $TRACK_HEADING_OFFSET=22;
my $TRACK_DISTANCE_OFFSET=24;
#Upload track
my $PLACEMARK_DELIMETER=0x7c910060;
my $PLACEMARK_EMPTY=0x05ba1760;
my $MAX_PLACEMARK_NAME=14;
my $MAX_TRACK_NAME=18;
my $MAX_SEGMENT_SIZE=512;
my $GPX_EOL="\n";
my $ret;
my $bytes_to_read;
my $TIMEOUT = 5;
# Timeout waiting for char "$" which is MTK packet start (sec).
my $TIMEOUT_PKT_PREAMBLE = 20;
# Timeout for activity on device port (msec).
my $TIMEOUT_IDLE_PORT = 5000;
#key for checksum
my $KEY=pack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
my $port = '/dev/ttyUSB0'; # Default communication port.
my $baudrate = 38400; # Default port speed.
my $device;
my $PI=3.1415926535;
my $TRACKS_TO_GET;
my @TRACKLIST;
my @POI;
my $BBOX={};
my @WPT;
my @TRACK;
if (! getopts('bB:d:f:hlmp:rs:u:v') or $opt_h or !($opt_u or $opt_l or $opt_d or $opt_r or $opt_B)) {
print <<HELP;
Usage: $NAME [options]
Options:
-b Also save raw data in .bin file
-B <filename> Read binary file instead of device
-d <tracklist> List tracks to get, comma separated.
Special values: a - all tracks
l - last track
Example: -d 1,2,3,5,6 or -d l
-f <filename> Base name for saved files (.bin and .gpx)
-h Print this message and exit
-l Print track list
-m Save tracks in one file
-p <port> Communication port, default: $port
-r Remove all data
-s <speed> Serial port speed, default $baudrate baud
-u <filename> Upload GPX file to device.
Example:
Download last track and waypoints from GPS device
260babel -f gpsdata -d l
HELP
exit(1)
}
if ($opt_v) { print "\n260Babel Version 0.3.3\n\n"; exit }
if ($opt_m and $opt_b) { print "\nImpossible to use -m and -b in the same time\n\n";exit }
if($opt_B) {
open my $f,"<$opt_B" or die $!;
binmode $f;
my @d=<$f>;
my $d=join '',@d;
close $f;
my @points=parse_track($d);
my $name=$opt_f||$opt_B;
my $bbox=get_bounds({data=>\@points});
my @poi=get_poi(\@points);
my $gpx=generate_gpx_header($bbox);
$gpx.=generate_gpx_poi(@poi);
$gpx.=generate_gpx_track({name=>$name,data=>\@points});
$gpx.=generate_gpx_footer();
open($f, ">$name.gpx") or die $!;
print $f $gpx;
close $f;
exit 0;
}
$TRACKS_TO_GET=$opt_d if($opt_d);
$baudrate = int($opt_s) if (defined($opt_s));
serial_port_open($port, $baudrate);
# Init
packet_send('PHLX810');
packet_wait('PHLX852,GR260');
packet_send('PHLX832');
packet_wait('PHLX865,');
packet_send('PHLX829');
$ret=packet_wait('PHLX861,');
print "Firmware version: $1.$2\n" if($ret=~m/PHLX861,(\d)(\d+)/);
packet_send('PHLX826'); #turn on USB icon.
$ret=packet_wait('PHLX859'); #usb icon is displayed
if($ret=~m/PHLX859/)
{
serial_port_speed('921600');
sleep 1;
}
if($opt_u) {
open_gpx_file($opt_u);
my $placemarks=generate_placemarks_bin();
my $trackdata=generate_track_bin();
my $placemarks_crc=calc_crc($placemarks);
my $trackdata_crc=calc_crc($trackdata);
packet_send('PHLX704,1,2');
packet_wait('PHLX604,');
my $pl_length=length $placemarks;
my $to_send=sprintf("PHLX901,%u,%X",$pl_length,$placemarks_crc);
packet_send($to_send);# Full size of data
packet_wait('PHLX900,901,3');#ok
for(my $i=0;$i<$pl_length;$i+=$MAX_SEGMENT_SIZE)
{
my $ss=0;
if (($pl_length-$i)<$MAX_SEGMENT_SIZE) {
$ss=$pl_length-$i;
}
else
{
$ss=$MAX_SEGMENT_SIZE;
}
my $d=substr($placemarks,$i,$ss);
my $crc=calc_crc($d);
$to_send=sprintf("PHLX902,%u,%d,%X",$i,$ss,$crc);
packet_send($to_send);
packet_wait('PHLX900,902,3'); #ready to receive
raw_packet_send($d);
}
packet_wait('PHLX900,902,3'); #confirm
sleep 1;
packet_send('PHLX708');
packet_send('PHLX708');
packet_wait('PHLX900,708,3');
my $tr_length=length $trackdata;
$to_send=sprintf("PHLX901,%u,%X",$tr_length,$trackdata_crc);
packet_send($to_send);# Full size of data
packet_wait('PHLX900,901,3');#ok
for(my $i=0;$i<$tr_length;$i+=$MAX_SEGMENT_SIZE)
{
my $ss=0;
if (($tr_length-$i)<$MAX_SEGMENT_SIZE) {
$ss=$tr_length-$i;
}
else
{
$ss=$MAX_SEGMENT_SIZE;
}
my $d=substr($trackdata,$i,$ss);
my $crc=calc_crc($d);
$to_send=sprintf("PHLX902,%u,%u,%X",$i,$ss,$crc);
packet_send($to_send);
packet_wait('PHLX900,902,3'); #ready to receive
raw_packet_send($d);
packet_wait('PHLX900,902,3'); #ok
}
sleep 1;
print "Sucessfully uploaded\n";
#packet_wait('PHLX900,902,3'); #ready to receive
#packet_send('PHLX902,0,256,B699765A');#Fist segment of data
#packet_wait('PHLX900,902,3'); #ready to receive
#send binary data; (global point)
#packet_wait('PHLX900,902,3'); #confirm
#packet_send('PHLX708');
#packet_send('PHLX708');
#packet_wait('PHLX900,708,3');
#packet_send('PHLX901,296,8A2BDDBB');# Full size of data
#packet_wait('PHLX900,901,3');#ok
#packet_send('PHLX902,0,296,8A2BDDBB');#Fist segment of data
#packet_wait('PHLX900,902,3'); #ready to receive
#send binary data; (track data)
#packet_wait('PHLX900,902,3'); #confirm
#return
}
if($opt_d or $opt_l)
{
packet_send('PHLX701');
$ret=packet_wait('PHLX601,');
if($ret=~m/PHLX601,(\d+)/) # saved tracks PHLX601,
{
# Read tracklist
if($1==0)
{
print "No tracks!\n";
sleep 1;
packet_send('PHLX827'); #Remove USB icon
packet_wait('PHLX860'); #icon removed
exit 0;
}
packet_send("PHLX702,0,$1");
packet_wait('PHLX900,702,');
$ret=packet_wait('PHLX901,');
if($ret=~m/PHLX901,(\d+)/)
{
$bytes_to_read=$1;
my $d=read_binary_data($bytes_to_read);
parse_track_list($d) if($d);
sleep 2;
packet_send('PHLX831');
packet_wait('PHLX863,');
sleep 1;
if($opt_l)
{
packet_send('PHLX827'); #Remove USB icon
packet_wait('PHLX860'); #icon removed
my $i=1;
foreach my $a (@TRACKLIST)
{
my $date=localtime($a->{info}->{time});
printf("%d - %s\t Len: %i m \tName: %s\n", $i++,$date,$a->{info}->{lenght},$a->{info}->{name});
}
exit 0;
}
#get tracks
my @ttg;
if ($TRACKS_TO_GET=~/a/) {
@ttg=('a');
}
else
{
@ttg=split ',',$TRACKS_TO_GET;
}
my $data;
foreach my $t (@ttg)
{
if($t=~/\d+/ and $t>0)
{
if($t>0)
{
get_track($t-1);#because track indexes start with 0.
}
}
elsif($t eq 'l')
{
$t=scalar (@TRACKLIST)-1;
get_track($t);
}
elsif($t eq 'a')
{
for(my $i=0;$i<scalar @TRACKLIST;$i++)
{
get_track($i);
}
}
else
{
die "Urecognized -d option argument";
}
}
save_tracks();
}
}
}
if($opt_r)
{
print "Removing tracks...";
sleep 1;
packet_send('PHLX839');
packet_wait('PHLX870,', 60);
print "ok\n";
}
sleep 3;
packet_send('PHLX827'); #Remove USB icon
packet_wait('PHLX860'); #icon removed
sub serial_port_open {
my $port = shift;
my $baudrate = shift;
die("Cannot open $port. Did you switch ON the GPS device?\n") if (! -c $port);
$device = Device::SerialPort->new($port)
|| die "ERROR: Opening serial device $port: $!";
$device->baudrate($baudrate) || die "fail setting baud rate";
$device->parity('none') || die "fail setting parity";
$device->databits(8) || die "fail setting databits";
$device->stopbits(1) || die "fail setting stopbits";
$device->handshake('none') || die "fail setting handshake";
$device->write_settings || die "no settings";
}
# Close the port.
sub serial_port_close {
$device->close || warn "close failed";
}
sub serial_port_write {
return($device->write(shift));
}
# Set read timeout (in milliseconds) on the port.
sub serial_port_set_read_timeout {
$device->read_const_time(shift);
}
sub serial_port_getch {
return($device->read(1));
}
sub serial_port_speed {
$device->baudrate(shift) || die "fail setting baud rate";
}
sub packet_send {
my $pkt = shift;
my $n;
# Add the checksum to the packet.
$pkt = $pkt . '*' . sprintf('%02X', packet_checksum($pkt));
#printf("%s TX packet => %s\n", log_time(), $pkt) if ($debug >= $LOG_NOTICE);
# Add the preamble and <CR><LF>.
$pkt = '$' . $pkt . "\r\n";
$n = serial_port_write($pkt);
#printf("Writing %u bytes to device; actually written %u bytes\n", length($pkt), $n) if ($debug >= $LOG_DEBUG);
die("ERROR: Writing to device: $!") if ($n != length($pkt));
}
sub raw_packet_send {
my $pkt = shift;
my $n;
$n = serial_port_write($pkt);
#printf("Writing %u bytes to device; actually written %u bytes\n", length($pkt), $n) if ($debug >= $LOG_DEBUG);
die("ERROR: Writing to device: $!") if ($n != length($pkt));
}
#-------------------------------------------------------------------------
# Calculate the packet checksum: bitwise XOR of string's bytes.
#-------------------------------------------------------------------------
sub packet_checksum {
my $pkt = shift;
my $len = length($pkt);
my $check = 0;
my $i;
for ($i = 0; $i < $len; $i++) { $check ^= ord(substr($pkt, $i, 1)); }
#printf("0x%02X\n", $check);
return($check);
}
#-------------------------------------------------------------------------
# Read a packet from the device.
# Return the packet with PktType, DataField, "*" and Checksum.
#
# Example: PMTK182,3,8,0004E69C*13
#
# The packet received has a leading Preample and a trailing <CR><LF>,
# example: $PMTK182,3,8,0004E69C*13<CR><LF>
#-------------------------------------------------------------------------
sub packet_read {
my $timeout = shift;
my $c;
my $n;
my $t;
my $pkt;
my $previous_c;
my $payload;
my $checksum;
# Timeout (in milliseconds) for activity on the port.
$timeout = $TIMEOUT_IDLE_PORT if (!defined($timeout));
serial_port_set_read_timeout($timeout);
# Wait packet preamble.
$c = '';
$t = time();
while ($c ne '$' and (time() - $t) < $TIMEOUT_PKT_PREAMBLE) {
($n, $c) = serial_port_getch();
die("ERROR: Reading from device (may be switched OFF)")if ($n != 1);
}
die("ERROR: Packet preamble not found (wrong serial speed or output from device not flushed)\n") if ($c ne '$');
# Read until End Of Packet.
$pkt = '';
$previous_c = '';
while (1) {
($n, $c) = serial_port_getch();
die("ERROR: Reading from device (may be switched OFF): $!") if ($n != 1);
if ($c eq '$') {
$pkt = '';
} else {
$pkt .= $c;
}
if (($c eq "\n") and ($previous_c eq "\r")) {
last;
}
$previous_c = $c;
}
# Remove trailing <CR><LF>.
$pkt = substr($pkt, 0, -2);
#printf("%s RX packet <= %s\n", log_time(), $pkt) if ($debug >= $LOG_NOTICE);
# Extract packet payload and checksum.
$payload = substr($pkt, 0, -3);
$checksum = hex(substr($pkt, -2, 2));
# Verify packet checksum.
if ($checksum ne packet_checksum($payload)) {
#printf("Packet checksum error: expected 0x%02X, computed 0x%02X\n", $checksum, packet_checksum($payload)) if ($debug >= $LOG_ERR);
return('');
} else {
return($pkt);
}
}
sub raw_packet_read {
my $len=shift;
my $timeout = shift;
my $count=0;
my $c;
my $n;
my $t;
my $pkt;
# Timeout (in milliseconds) for activity on the port.
$timeout = $TIMEOUT_IDLE_PORT if (!defined($timeout));
serial_port_set_read_timeout($timeout);
$c = '';
$t = time();
while ($count<$len and (time() - $t) < $TIMEOUT_PKT_PREAMBLE) {
($n, $c) = serial_port_getch();
$count+=$n;
die("ERROR: Reading from device (may be switched OFF)")if (($n != 1) and ( $count < $len ) );
$pkt.=$c;
}
return($pkt);
}
#-------------------------------------------------------------------------
# Read packets from the device, untill we get the one we want.
#-------------------------------------------------------------------------
sub packet_wait {
my $pkt_type = shift;
my $timeout = shift;
my $max_time;
my $pkt;
my $len;
my $i;
$len = length($pkt_type);
# Timeout (in seconds) for packet wait.
$timeout = $TIMEOUT if (!defined($timeout));
$max_time = time() + $timeout;
while(1) {
$pkt = packet_read($timeout * 1000);
return($pkt) if (substr($pkt, 0, $len) eq $pkt_type);
#write_log_packet($pkt) if (defined($fp_log));
last if (time() > $max_time);
}
#printf("%s ERROR: packet_wait() failed for packet %s\n", log_time(), $pkt_type) if ($debug >= $LOG_ERR);
return(undef);
}
sub parse_track_list
{
my $d=shift;
die "File length is wrong!\n" if(length($d)%64);
my $tracks=length($d)/64;
print "Found $tracks track(s)\n";
my $c;
for(my $i=0;$i<$tracks;$i++)
{
my $track={
info=>{}
};
my $s=$i*64;
$c=substr($d,$s+3,1);
if(ord($c)==0xff)
{
if(ord(substr($d,$s+$LIST_NAME_OFFSET,1))==0xff)
{
$track->{info}->{'name'}="Noname";
}
else
{
$track->{info}->{'name'}=substr($d,$s+$LIST_NAME_OFFSET,$LIST_NAME_LENGTH);
$track->{info}->{'name'}=~ s/[^[:print:]]+//g;
}
# MTK time starts in Y2000, Unix in 1970. It's 30 years shift.
$track->{info}->{'time'}=unpack('V',substr($d,$s+$LIST_TIME_OFFSET,4))+946684800;
$track->{info}->{'lenght'}=unpack('V',substr($d,$s+$LIST_LENGTH_OFFSET,4));
$track->{info}->{'mem_start'}=unpack('V',substr($d,$s+$LIST_MEM_START_OFFSET,4));
$track->{info}->{'mem_length'}=unpack('V',substr($d,$s+$LIST_MEM_LENGTH_OFFSET,4));
push @TRACKLIST,$track;
}
}
}
sub read_binary_data
{
my $d;
my $data;
my $bytes_to_read=shift;
my $bytes_left=$bytes_to_read;
#print "Bytes to read: $bytes_to_read\n";
packet_send('PHLX900,901,3');
my $fails=0;
while (1){
$ret=packet_wait('PHLX902,');
if($ret=~m/PHLX902,\d+,(\d+),([^\*]+)/)
{
packet_send('PHLX900,902,3');
my $segment_size=$1;
my $crc=$2;
$d=raw_packet_read($segment_size);
if (check_crc($d,$crc)) {
$bytes_left-=$segment_size;
packet_send('PHLX900,902,3');
$data.=$d;
$fails=0;
last if ($bytes_left<1);
}
else #request to retransmit last data block
{
packet_send('PHLX900,902,2');
return undef if ($fails++>1);
}
}
}
sleep 2;
return $data;
}
sub get_track {
my $t=shift; #track number in list
return undef if(!($t=~/\d+/ and $t>-1));
# Get Tracks
# shift 28 in track list
# | shift 32 in track list
# | |
#packet_send('PHLX703,223,63');
die "No such track" if (!$TRACKLIST[$t]);
packet_send('PHLX703,'.$TRACKLIST[$t]->{info}->{mem_start}.','.$TRACKLIST[$t]->{info}->{mem_length});
packet_wait('PHLX900,703,');
$ret=packet_wait('PHLX901,');
if($ret=~m/PHLX901,(\d+)/)
{
$bytes_to_read=$1;
my $d=read_binary_data($bytes_to_read);
if ($d && length($d)==$bytes_to_read)
{
if ($opt_b) {
$TRACKLIST[$t]->{rawdata}=$d;
}
my @points=parse_track($d);
$TRACKLIST[$t]->{data}=\@points;
if($opt_b)
{
my $filename;
$filename=$opt_f."_" if($opt_f);
my $a=$TRACKLIST[$t];
if($a->{info}->{name} ne 'Noname')
{
$filename.=$a->{info}->{name};
}
else
{
$filename.=filename_time($a->{info}->{time});
}
open my $ff, ">$filename.bin" or die $!;
binmode $ff;
print $ff $d;
close $ff;
}
}
else
{
print "Failed to read track. CRC error\n";
}
}
}
sub parse_track
{
# point is 32 bytes length. I don't know what means some fields.
#
# time LAT LON height speed*36
# _|_________ __|________ __|________ __|__ __|__
#00000000 c2 0d b0 1b 72 0a 60 42 bb 49 17 42 b3 00 12 00
#00000010 ea 05 00 00 a9 00 01 00 00 00 00 00 00 00 00 00
# ^^ ^^^^^ ^^^^^ ^^^^^ ^^^^^^^^^^^
# | | | | |
# | heartrate| heading distance
# flags altimeter
my $d=shift;
my @track;
die "File has wrong size" if(length($d)%32);
for(my $i=0;$i<length($d);$i+=32)
{
my $point={};
#MTK time starts in Y2000, Unix in 1970. It's 30 years shift.
$point->{time}=unpack('V',substr($d,$i+$TRACK_TIME_OFFSET,4))+946684800;
$point->{lat}=unpack('f', substr($d,$i+$TRACK_LAT_OFFSET,4));
$point->{lon}=unpack('f',substr($d,$i+$TRACK_LON_OFFSET,4));
$point->{height}=unpack('v', substr($d,$i+$TRACK_HEIGHT_OFFSET,2));
$point->{speed}=unpack('v',substr($d,$i+$TRACK_SPEED_OFFSET,2));
$point->{flags}=unpack('C',substr($d,$i+$TRACK_FLAGS_OFFSET,1));
$point->{heart}=unpack('v',substr($d,$i+$TRACK_HEARTRATE_OFFSET,2));
$point->{alt}=unpack('v',substr($d,$i+$TRACK_ALTIMETER_OFFSET,2));
$point->{heading}=unpack('v',substr($d,$i+$TRACK_HEADING_OFFSET,2));
$point->{distance}=unpack('V',substr($d,$i+$TRACK_DISTANCE_OFFSET,4));
push @track, $point;
}
return @track;
}
sub save_tracks
{
my $GPX_TEXT;
if ($opt_m)
{
my $index=0;
my $bbox=undef;
my @poi;
my $text;
my $filename=$opt_f || "output";
print "Saving all the tracks to ".$filename.".gpx\n";
foreach my $a (@TRACKLIST)
{
next if !defined $a->{data};
$bbox=get_bounds({data=>$a->{data},
bbox=>$bbox});
push @poi,get_poi($a->{data});
}
$text=generate_gpx_header($bbox);
$text.=generate_gpx_poi(@poi);
foreach my $a (@TRACKLIST)
{
next if ! defined $a->{data};
$index++;
my $name=$a->{info}->{name};
$name=utc_time($a->{info}->{time}) if ($name eq "Noname");
$text.=generate_gpx_track({number=>$index,
name=>$name,
data=>$a->{data}});
}
$text.=generate_gpx_footer();
open my $fh, ">$filename.gpx" or die $!;
printf $fh $text;
close $fh;
print "ok\n\n";
}
else
{
foreach my $a (@TRACKLIST)
{
next if !defined $a->{data};
my $filename;
$filename=$opt_f."_" if($opt_f);
if($a->{info}->{name} ne 'Noname')
{
$filename.=$a->{info}->{name};
}
else
{
$filename.=filename_time($a->{info}->{time});
}
$a->{info}->{filename}=$filename;
print "Saving track to ".$filename.".gpx\n";
my $bbox=get_bounds({data=>$a->{data}});
my @poi=get_poi($a->{data});
my $text=generate_gpx_header($bbox);
$text.=generate_gpx_poi(@poi);
my $name=$a->{info}->{name};
$name=utc_time($a->{info}->{time}) if ($name eq "Noname");
$text.=generate_gpx_track({number=>1,
name=>$name,
data=>$a->{data}});
$text.=generate_gpx_footer();
open my $fh, ">$filename.gpx" or die $!;
printf $fh $text;
close $fh;
print "ok\n\n";
}
}
}
sub generate_gpx_header
{
my $bbox=shift;
my $gpx=sprintf('<?xml version="1.0" encoding="UTF-8"?>%s', $GPX_EOL);
$gpx.='<gpx' . $GPX_EOL;
$gpx.=' version="1.1"' . $GPX_EOL;
$gpx.=' creator="MTKBabel - http://www.rigacci.org/"' . $GPX_EOL;
$gpx.=' xmlns="http://www.topografix.com/GPX/1/1"' . $GPX_EOL;
$gpx.=' xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"' . $GPX_EOL;
$gpx.=' xmlns:mtk="http://www.rigacci.org/gpx/MtkExtensions/v1"' . $GPX_EOL;
$gpx.=' xsi:schemaLocation="http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd' . $GPX_EOL;
$gpx.=' http://www.rigacci.org/gpx/MtkExtensions/v1 http://www.rigacci.org/gpx/MtkExtensions/v1/MtkExtensionsv1.xsd">' . $GPX_EOL;
$gpx.=sprintf('<metadata>%s', $GPX_EOL);
$gpx.=sprintf(' <time>%s</time>%s', utc_time(time()), $GPX_EOL);
$gpx.=sprintf(' <bounds minlat="%.9f" minlon="%.9f" maxlat="%.9f" maxlon="%.9f"/>%s',
$bbox->{minlat}, $bbox->{minlon}, $bbox->{maxlat}, $bbox->{maxlon}, $GPX_EOL) if(defined($bbox));
$gpx.=sprintf('</metadata>%s', $GPX_EOL);
return $gpx;
}
sub generate_gpx_poi
{
my @poi=@_;
my $poi_index=0;
my $gpx='';
foreach my $a (@poi)
{
next if ! defined $a->{lon} || ! defined $a->{lat};
$poi_index++;
my $record_utc=utc_time($a->{time});
$gpx.=sprintf('<wpt lat="%.9f" lon="%.9f">%s', $a->{lat}, $a->{lon}, $GPX_EOL);
$gpx.=sprintf(' <ele>%.6f</ele>%s', $a->{height}, $GPX_EOL) if (defined($a->{height}));
$gpx.=sprintf(' <time>%s</time>%s', $record_utc, $GPX_EOL) if (defined($record_utc));
$gpx.=sprintf(' <name>%03d</name>%s', $poi_index, $GPX_EOL);
$gpx.=sprintf(' <cmt>%03d</cmt>%s', $poi_index, $GPX_EOL);
$gpx.=sprintf(' <desc>%s</desc>%s', $record_utc, $GPX_EOL) if (defined($record_utc));
$gpx.=sprintf(' <sym>Flag</sym>%s', $GPX_EOL);
$gpx.=sprintf('</wpt>%s', $GPX_EOL);
}
return $gpx;
}
sub generate_gpx_track
{
my ($args)=@_;
my $gpx_trk_number=$args->{number}||1;
my $name=$args->{name};
my @data=@{$args->{data}};
my $gpx;
$gpx.=sprintf('<trk>%s', $GPX_EOL);
$gpx.=sprintf(' <name>%s</name>%s', $name, $GPX_EOL);
$gpx.=sprintf(' <number>%u</number>%s', $gpx_trk_number, $GPX_EOL) if ($gpx_trk_number > 0);
$gpx.=sprintf('<trkseg>%s', $GPX_EOL);
foreach my $a (@data)
{
my $record_latitude=$a->{lat};
my $record_longitude=$a->{lon};
my $record_height=$a->{alt}; #height from Altimeter data
my $record_utc=utc_time($a->{time});
my $record_speed=$a->{speed}/36;
my $record_heading=$a->{heading};
$gpx.=sprintf('<trkpt lat="%.9f" lon="%.9f">%s', $record_latitude, $record_longitude, $GPX_EOL);
$gpx.=sprintf(' <ele>%.6f</ele>%s', $record_height, $GPX_EOL) if (defined($record_height));
$gpx.=sprintf(' <time>%s</time>%s', $record_utc, $GPX_EOL) if (defined($record_utc));
$gpx.=sprintf(' <course>%03d</course>%s', $record_heading, $GPX_EOL) if (defined($record_heading));
$gpx.=sprintf(' <speed>%.2f</speed>%s', $record_speed, $GPX_EOL) if (defined($record_speed));
if ($a->{heart}) {
$gpx.=sprintf(' <extensions>%s',$GPX_EOL);
$gpx.=sprintf(' <gpxtpx:TrackPointExtension>%s',$GPX_EOL);
$gpx.=sprintf(' <gpxtpx:hr>%d</gpxtpx:hr>%s',$a->{heart}, $GPX_EOL);
$gpx.=sprintf(' </gpxtpx:TrackPointExtension>%s',$GPX_EOL);
$gpx.=sprintf(' </extensions>%s',$GPX_EOL);
}
$gpx.=sprintf('</trkpt>%s', $GPX_EOL);
}
$gpx.=sprintf('</trkseg>%s', $GPX_EOL);
$gpx.=sprintf('</trk>%s', $GPX_EOL);
return $gpx;
}
sub generate_gpx_footer
{
my $gpx;
$gpx.=sprintf('</gpx>%s', $GPX_EOL);
return $gpx;
}
sub get_poi
{
my $data=shift;
my @poi;
foreach my $a (@{$data})
{
if($a->{flags}>=0x10) #POI
{
my $poi={};
$poi->{lon}=$a->{lon};
$poi->{lat}=$a->{lat};
$poi->{height}=$a->{alt};
$poi->{time}=$a->{time};
$poi->{name}=localtime($a->{time});
$poi->{description}=$poi->{name};
push @poi, $poi;
}
}
return @poi;
}
sub get_bounds
{
my ($args)=@_;
my $bbox=$args->{bbox}||{};
my @data=@{$args->{data}};
$bbox->{minlat}=$bbox->{maxlat}=$data[0]->{lat} if(!defined($bbox->{maxlat}));
$bbox->{minlon}=$bbox->{maxlon}=$data[0]->{lon} if(!defined($bbox->{maxlon}));
foreach my $a (@data)
{
my $poi={};
$bbox->{minlon}=$a->{lon} if($a->{lon}<$bbox->{minlon});
$bbox->{maxlon}=$a->{lon} if($a->{lon}>$bbox->{maxlon});
$bbox->{minlat}=$a->{lat} if($a->{lat}<$bbox->{minlat});
$bbox->{maxlat}=$a->{lat} if($a->{lat}>$bbox->{maxlat});
}
return $bbox;
}
sub utc_time {
time2str('%Y-%m-%dT%H:%M:%SZ', shift, 'GMT');
}
sub filename_time {
time2str('%d-%m-%y_%H:%M', shift);
}
sub check_crc
{
my $data=shift;
my $cc=hex shift;
return ($cc == calc_crc($data));
}
sub calc_crc
{
my $data=shift;
my $crc=0xffffffff;
my ($ecx,$edx);
for(my $i=0;$i<length $data;$i++)
{
$ecx=$edx=$crc;
$ecx>>=8;
$edx&=0xff;
$edx^=unpack('C',substr($data,$i,1));
$ecx^=unpack('V',substr($KEY,$edx*4,4));
$crc=$ecx;
}
return ($crc);
}
sub calc_distance($$)
{
my $p1=shift;
my $p2=shift;
return 0 if(!(defined($p1->{lon})&&defined($p2->{lon})));
my $lat1 = $p1->{lat};
my $lat2 = $p2->{lat};
my $lon1 = $p1->{lon};
my $lon2 = $p2->{lon};
my $R = 6378.137; # Radius of earth in KM
my $dLat = ($lat2 - $lat1) * $PI / 180;
my $dLon = ($lon2 - $lon1) * $PI / 180;
my $a = sin($dLat / 2) * sin($dLat / 2) +
cos($lat1 * $PI / 180) * cos($lat2 * $PI / 180) *
sin($dLon / 2) * sin($dLon / 2);
my $c = 2 * atan2(sqrt($a), sqrt(1 - $a));
my $d = $R * $c;
return $d*1000; #meters
}
sub calc_length($)
{
my $track=shift;
my @point=@{$track->{points}};
$point[0]->{distance}=0;
my $distance;
for(my $i=1;$i<scalar @point;$i++)
{
$distance+=calc_distance($point[$i-1],$point[$i]);
$point[$i]->{distance}=sprintf("%.0d",$distance);
}
$track->{length}=$distance;
}
sub calc_ascend($)
{
my $track=shift;
my @point=@{$track->{points}};
if(!defined($point[scalar(@point)-1]->{ele}) && ! defined ($point[0]->{ele}))
{
$track->{ascend}=0;
return 0;
}
my $a=$point[scalar(@point)-1]->{ele}-$point[0]->{ele};
$track->{ascend}=$a;
return $a;
}
sub calc_time($)
{
my $track=shift;
my @point=@{$track->{points}};
my $starttime=$point[0]->{time}//0;
for(my $i=0;$i<scalar(@point);$i++)
{
my $p=$point[$i];
if (defined($p->{time})) {
$p->{time}-=$starttime;
}
else #calc time. Suppose speed 10 km/h, 2.7 m/s
{
$p->{time}=sprintf("%.0d",$p->{distance}/2.7)||0;
}
}
$track->{time}=$point[scalar(@point)-1]->{time};
return $track->{time};
}