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lat and lon attributes allowed in waypoint definitions

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This commit is contained in:
Pascal Brisset
2008-12-06 10:18:07 +00:00
parent 61c09c8178
commit e7c4fae678
2 changed files with 38 additions and 31 deletions
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conf/flight_plans/flight_plan.dtd
+2 -2
View File
@@ -61,8 +61,8 @@ utm_y0 CDATA #IMPLIED>
<!ATTLIST waypoint
name CDATA #REQUIRED
x CDATA #REQUIRED
y CDATA #REQUIRED
x CDATA #IMPLIED
y CDATA #IMPLIED
lat CDATA #IMPLIED
lon CDATA #IMPLIED
alt CDATA #IMPLIED>
sw/tools/gen_flight_plan.ml
+36 -29
View File
@@ -99,14 +99,23 @@ let check_altitude = fun a x ->
end
let print_waypoint = fun rel_utm_of_wgs84 default_alt waypoint ->
let (x, y) =
try
rel_utm_of_wgs84 {posn_lat=(Deg>>Rad)(float_attrib waypoint "lat");
posn_long=(Deg>>Rad)(float_attrib waypoint "lon") }
with
Xml.No_attribute "lat" | Xml.No_attribute "lon" ->
(float_attrib waypoint "x", float_attrib waypoint "y")
(** Computes "x" and "y" attributes if "lat" and "lon" are availabele *)
let localize_waypoint = fun rel_utm_of_wgs84 waypoint ->
try
let (x, y) =
rel_utm_of_wgs84
(Latlong.make_geo_deg
(float_attrib waypoint "lat")
(float_attrib waypoint "lon")) in
let x = sprintf "%.2f" x and y = sprintf "%.2f" y in
ExtXml.subst_attrib "y" y (ExtXml.subst_attrib "x" x waypoint)
with
Xml.No_attribute "lat" | Xml.No_attribute "lon" ->
waypoint
let print_waypoint = fun default_alt waypoint ->
let (x, y) = (float_attrib waypoint "x", float_attrib waypoint "y")
and alt = try Xml.attrib waypoint "alt" with _ -> default_alt in
check_altitude (float_of_string alt) waypoint;
printf " {%.1f, %.1f, %s},\\\n" x y alt
@@ -679,10 +688,19 @@ let () =
let blocks = Xml.children (ExtXml.child xml "blocks") @ [home_block] in
let xml = ExtXml.subst_child "blocks" (index_blocks (element "blocks" [] blocks)) xml in
let waypoints = ExtXml.child xml "waypoints"
let waypoints = Xml.children (ExtXml.child xml "waypoints")
and blocks = Xml.children (ExtXml.child xml "blocks")
and global_exceptions = try Xml.children (ExtXml.child xml "exceptions") with _ -> [] in
let utm0 = utm_of WGS84 wgs84 in
let rel_utm_of_wgs84 = fun wgs84 ->
let utm = utm_of WGS84 wgs84 in
(utm.utm_x -. utm0.utm_x, utm.utm_y -. utm0.utm_y) in
let waypoints =
List.map (localize_waypoint rel_utm_of_wgs84) waypoints in
let xml = ExtXml.subst_child "waypoints" (element "waypoints" [] waypoints) xml in
if !dump then
let xml_stages = Xml.Element ("stages", [], indexed_stages blocks) in
let dump_xml = Xml.Element ("dump", [], [xml; xml_stages]) in
@@ -718,24 +736,22 @@ let () =
check_altitude (float_of_string alt) xml;
let utm0 = utm_of WGS84 wgs84 in
let rel_utm_of_wgs84 = fun wgs84 ->
let utm = utm_of WGS84 wgs84 in
(utm.utm_x -. utm0.utm_x, utm.utm_y -. utm0.utm_y) in
Xml2h.define "NAV_UTM_EAST0" (sprintf "%.0f" utm0.utm_x);
Xml2h.define "NAV_UTM_NORTH0" (sprintf "%.0f" utm0.utm_y);
Xml2h.define "NAV_UTM_ZONE0" (sprintf "%d" utm0.utm_zone);
Xml2h.define "QFU" (sprintf "%.1f" qfu);
let waypoints = dummy_waypoint :: Xml.children waypoints in
let waypoints = dummy_waypoint :: waypoints in
let (hx, hy) = home waypoints in
List.iter (check_distance (hx, hy) mdfh) waypoints;
define_waypoints_indices waypoints;
Xml2h.define "WAYPOINTS" "{ \\";
List.iter (print_waypoint rel_utm_of_wgs84 alt) waypoints;
List.iter (print_waypoint alt) waypoints;
lprintf "};\n";
Xml2h.define "NB_WAYPOINT" (string_of_int (List.length waypoints));
@@ -761,8 +777,9 @@ let () =
let sectors = List.filter (fun x -> String.lowercase (Xml.tag x) = "sector") (Xml.children sectors_element) in
let sectors = List.map (parse_wpt_sector waypoints) sectors in
List.iter print_inside_sector sectors;
Xml2h.finish h_name;
lprintf "#ifdef NAV_C\n";
lprintf "\nstatic inline void auto_nav(void) {\n";
right ();
@@ -772,17 +789,7 @@ let () =
print_blocks index_of_waypoints blocks;
left (); lprintf "}\n";
left (); lprintf "}\n";
lprintf "#endif // NAV_C\n";
begin
try
let airspace = Xml.attrib xml "airspace" in
lprintf "#define InAirspace(_x, _y) %s(_x, _y)\n" (inside_function airspace)
with
_ -> ()
end;
Xml2h.finish h_name
lprintf "#endif // NAV_C\n"
end
with
Xml.Error e -> fprintf stderr "%s: XML error:%s\n" !xml_file (Xml.error e); exit 1