mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-28 18:04:51 +00:00
Record Time, Speed over ground, Course over ground and Dilution of precision in KML output
This commit is contained in:
Álvaro Cebrián Juan
parent
686305da71
commit
0e00b5eaa4
@ -2,6 +2,7 @@
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* \file kml_printer.cc
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* \brief Implementation of a class that prints PVT information to a kml file
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
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*
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*
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* -------------------------------------------------------------------------
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@ -75,6 +76,14 @@ Kml_Printer::Kml_Printer(const std::string& base_path)
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}
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kml_base_path = kml_base_path + boost::filesystem::path::preferred_separator;
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boost::filesystem::path tmp_base_path = boost::filesystem::temp_directory_path();
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boost::filesystem::path tmp_filename = boost::filesystem::unique_path();
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boost::filesystem::path tmp_file = tmp_base_path / tmp_filename;
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tmp_file_str = tmp_file.string();
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point_id = 0;
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}
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@ -128,17 +137,61 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
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kml_filename = kml_base_path + kml_filename;
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kml_file.open(kml_filename.c_str());
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if (kml_file.is_open())
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tmp_file.open(tmp_file_str.c_str());
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if (kml_file.is_open() && tmp_file.is_open())
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{
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DLOG(INFO) << "KML printer writing on " << filename.c_str();
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// Set iostream numeric format and precision
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kml_file.setf(kml_file.fixed, kml_file.floatfield);
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kml_file << std::setprecision(14);
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tmp_file.setf(tmp_file.fixed, tmp_file.floatfield);
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tmp_file << std::setprecision(14);
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kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
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<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl
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<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\" xmlns:gx=\"http://www.google.com/kml/ext/2.2\">" << std::endl
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<< indent << "<Document>" << std::endl
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<< indent << indent << "<name>GNSS Track</name>" << std::endl
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<< indent << indent << "<description>GNSS-SDR Receiver position log file created at " << pt << "</description>" << std::endl
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<< indent << indent << "<description><![CDATA[" << std::endl
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<< indent << indent << indent << "<table>" << std::endl
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<< indent << indent << indent << indent << "<tr><td>GNSS-SDR Receiver position log file created at " << pt << "</td></tr>" << std::endl
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<< indent << indent << indent << indent << "<tr><td>https://gnss-sdr.org/</td></tr>" << std::endl
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<< indent << indent << indent << "</table>" << std::endl
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<< indent << indent << "]]></description>" << std::endl
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<< indent << indent << "<!-- Normal track style -->" << std::endl
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<< indent << indent << "<Style id=\"track_n\">" << std::endl
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<< indent << indent << indent << "<IconStyle>" << std::endl
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<< indent << indent << indent << indent << "<color>ff00ffff</color>" << std::endl
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<< indent << indent << indent << indent << "<scale>0.3</scale>" << std::endl
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<< indent << indent << indent << indent << "<Icon>" << std::endl
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<< indent << indent << indent << indent << indent << "<href>http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png</href>" << std::endl
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<< indent << indent << indent << indent << "</Icon>" << std::endl
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<< indent << indent << indent << "</IconStyle>" << std::endl
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<< indent << indent << indent << "<LabelStyle>" << std::endl
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<< indent << indent << indent << indent << "<scale>0</scale>" << std::endl
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<< indent << indent << indent << "</LabelStyle>" << std::endl
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<< indent << indent << "</Style>" << std::endl
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<< indent << indent << "<!-- Highlighted track style -->" << std::endl
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<< indent << indent << "<Style id=\"track_h\">" << std::endl
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<< indent << indent << indent << "<IconStyle>" << std::endl
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<< indent << indent << indent << indent << "<color>ff00ffff</color>" << std::endl
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<< indent << indent << indent << indent << "<scale>1</scale>" << std::endl
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<< indent << indent << indent << indent << "<Icon>" << std::endl
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<< indent << indent << indent << indent << indent << "<href>http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png</href>" << std::endl
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<< indent << indent << indent << indent << "</Icon>" << std::endl
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<< indent << indent << indent << "</IconStyle>" << std::endl
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<< indent << indent << "</Style>" << std::endl
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<< indent << indent << "<StyleMap id=\"track\">" << std::endl
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<< indent << indent << indent << "<Pair>" << std::endl
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<< indent << indent << indent << indent << "<key>normal</key>" << std::endl
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<< indent << indent << indent << indent << "<styleUrl>#track_n</styleUrl>" << std::endl
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<< indent << indent << indent << "</Pair>" << std::endl
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<< indent << indent << indent << "<Pair>" << std::endl
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<< indent << indent << indent << indent << "<key>highlight</key>" << std::endl
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<< indent << indent << indent << indent << "<styleUrl>#track_h</styleUrl>" << std::endl
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<< indent << indent << indent << "</Pair>" << std::endl
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<< indent << indent << "</StyleMap>" << std::endl
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<< indent << indent << "<Style id=\"yellowLineGreenPoly\">" << std::endl
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<< indent << indent << indent << "<LineStyle>" << std::endl
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<< indent << indent << indent << indent << "<color>7f00ffff</color>" << std::endl
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@ -148,15 +201,9 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
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<< indent << indent << indent << indent << "<color>7f00ff00</color>" << std::endl
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<< indent << indent << indent << "</PolyStyle>" << std::endl
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<< indent << indent << "</Style>" << std::endl
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<< indent << indent << "<Placemark>" << std::endl
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<< indent << indent << indent << "<name>GNSS-SDR PVT</name>" << std::endl
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<< indent << indent << indent << "<description>GNSS-SDR position log</description>" << std::endl
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<< indent << indent << indent << "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
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<< indent << indent << indent << "<LineString>" << std::endl
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<< indent << indent << indent << indent << "<extrude>0</extrude>" << std::endl
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<< indent << indent << indent << indent << "<tessellate>1</tessellate>" << std::endl
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<< indent << indent << indent << indent << "<altitudeMode>absolute</altitudeMode>" << std::endl
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<< indent << indent << indent << indent << "<coordinates>" << std::endl;
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<< indent << indent << "<Folder>" << std::endl
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<< indent << indent << indent << "<name>Points</name>" << std::endl;
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return true;
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}
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else
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@ -167,7 +214,7 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
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}
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bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values)
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bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values)
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{
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double latitude;
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double longitude;
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@ -175,7 +222,18 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
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positions_printed = true;
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std::shared_ptr<Pvt_Solution> position_ = position;
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std::shared_ptr<rtklib_solver> position_ = position;
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double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s
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double course_over_ground = position_->get_course_over_ground(); // expressed in deg
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double hdop = position_->get_hdop();
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double vdop = position_->get_vdop();
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double pdop = position_->get_pdop();
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std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time());
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if (utc_time.length() < 23) utc_time += ".";
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utc_time.resize(23, '0'); // time up to ms
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utc_time.append("Z"); // UTC time zone
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if (print_average_values == false)
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{
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@ -190,10 +248,38 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
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height = position_->get_avg_height();
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}
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if (kml_file.is_open())
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if (kml_file.is_open() && tmp_file.is_open())
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{
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kml_file << indent << indent << indent << indent << indent
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point_id++;
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kml_file << indent << indent << indent << "<Placemark>" << std::endl
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<< indent << indent << indent << indent << "<name>" << point_id << "</name>" << std::endl
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<< indent << indent << indent << indent << "<snippet/>" << std::endl
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<< indent << indent << indent << indent << "<description><![CDATA[" << std::endl
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<< indent << indent << indent << indent << indent << "<table>" << std::endl
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<< indent << indent << indent << indent << indent << indent << "<tr><td>Time:</td><td>" << utc_time << "</td></tr>" << std::endl
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<< indent << indent << indent << indent << indent << indent << "<tr><td>Longitude:</td><td>" << longitude << "</td><td>deg</td></tr>" << std::endl
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<< indent << indent << indent << indent << indent << indent << "<tr><td>Latitude:</td><td>" << latitude << "</td><td>deg</td></tr>" << std::endl
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<< indent << indent << indent << indent << indent << indent << "<tr><td>Altitude:</td><td>" << height << "</td><td>m</td></tr>" << std::endl
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<< indent << indent << indent << indent << indent << indent << "<tr><td>Speed:</td><td>" << speed_over_ground << "</td><td>m/s</td></tr>" << std::endl
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<< indent << indent << indent << indent << indent << indent << "<tr><td>Course:</td><td>" << course_over_ground << "</td><td>deg</td></tr>" << std::endl
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<< indent << indent << indent << indent << indent << indent << "<tr><td>HDOP:</td><td>" << hdop << "</td></tr>" << std::endl
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<< indent << indent << indent << indent << indent << indent << "<tr><td>VDOP:</td><td>" << vdop << "</td></tr>" << std::endl
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<< indent << indent << indent << indent << indent << indent << "<tr><td>PDOP:</td><td>" << pdop << "</td></tr>" << std::endl
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<< indent << indent << indent << indent << indent << "</table>" << std::endl
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<< indent << indent << indent << indent << "]]></description>" << std::endl
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<< indent << indent << indent << indent << "<TimeStamp>" << std::endl
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<< indent << indent << indent << indent << indent << "<when>" << utc_time << "</when>" << std::endl
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<< indent << indent << indent << indent << "</TimeStamp>" << std::endl
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<< indent << indent << indent << indent << "<styleUrl>#track</styleUrl>" << std::endl
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<< indent << indent << indent << indent << "<Point>" << std::endl
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<< indent << indent << indent << indent << indent << "<altitudeMode>absolute</altitudeMode>" << std::endl
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<< indent << indent << indent << indent << indent << "<coordinates>" << longitude << "," << latitude << "," << height << "</coordinates>" << std::endl
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<< indent << indent << indent << indent << "</Point>" << std::endl
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<< indent << indent << indent << "</Placemark>" << std::endl;
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tmp_file << indent << indent << indent << indent << indent
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<< longitude << "," << latitude << "," << height << std::endl;
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return true;
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}
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else
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@ -205,14 +291,32 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
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bool Kml_Printer::close_file()
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{
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if (kml_file.is_open())
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if (kml_file.is_open() && tmp_file.is_open())
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{
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tmp_file.close();
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kml_file << indent << indent << "</Folder>"
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<< indent << indent << "<Placemark>" << std::endl
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<< indent << indent << indent << "<name>Path</name>" << std::endl
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<< indent << indent << indent << "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
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<< indent << indent << indent << "<LineString>" << std::endl
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<< indent << indent << indent << indent << "<extrude>0</extrude>" << std::endl
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<< indent << indent << indent << indent << "<tessellate>1</tessellate>" << std::endl
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<< indent << indent << indent << indent << "<altitudeMode>absolute</altitudeMode>" << std::endl
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<< indent << indent << indent << indent << "<coordinates>" << std::endl;
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// Copy the contents of tmp_file into kml_file
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std::ifstream src(tmp_file_str, std::ios::binary);
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kml_file << src.rdbuf();
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kml_file << indent << indent << indent << indent << "</coordinates>" << std::endl
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<< indent << indent << indent << "</LineString>" << std::endl
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<< indent << indent << "</Placemark>" << std::endl
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<< indent << "</Document>" << std::endl
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<< "</kml>";
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kml_file.close();
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return true;
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}
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else
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@ -2,7 +2,7 @@
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* \file kml_printer.h
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* \brief Interface of a class that prints PVT information to a kml file
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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@ -34,6 +34,7 @@
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#define GNSS_SDR_KML_PRINTER_H_
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#include "pvt_solution.h"
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#include "rtklib_solver.h"
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#include <fstream>
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#include <memory>
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#include <string>
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@ -48,16 +49,19 @@ class Kml_Printer
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{
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private:
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std::ofstream kml_file;
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std::ofstream tmp_file;
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bool positions_printed;
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std::string kml_filename;
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std::string indent;
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std::string kml_base_path;
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std::string tmp_file_str;
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unsigned int point_id;
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std::string indent;
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public:
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Kml_Printer(const std::string& base_path = std::string("."));
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~Kml_Printer();
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bool set_headers(std::string filename, bool time_tag_name = true);
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bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values);
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bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
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bool close_file();
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};
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