public void Add(GpsFile gpsFile)
{
if (gpsFile != null && gpsFile.Tracks != null && gpsFile.Tracks.Count > 0)
{
// Loop through each Track
foreach (GpsTrack gpsTrack in gpsFile.Tracks)
{
// Loop through each Segment
foreach (GpsTrackSegment gpsTrackSegment in gpsTrack.Segments)
{
// Loop through each Point
foreach (GpsTrackPoint gpsTrackPoint in gpsTrackSegment.Points)
{
GpsPosition newCoordinate = new GpsPosition();
newCoordinate.Time = gpsTrackPoint.Time;
newCoordinate.Latitude.Numeric = gpsTrackPoint.LatitudeAsDouble;
newCoordinate.Longitude.Numeric = gpsTrackPoint.LongitudeAsDouble;
newCoordinate.Altitude = gpsTrackPoint.Altitude;
// Use the tracks data or the parameter override
newCoordinate.Source = string.IsNullOrEmpty(this.GpsTrackSource) ? gpsTrackPoint.Source : this.GpsTrackSource;
// Add the point to the cache
this.TrackPoints.Add(newCoordinate);
}
}
}
// ReOptimise the Track
this.OptimiseTrack();
}
}
public static GpsFile Read(string fileName)
{
GpsFile gpsFile = new GpsFile();
gpsFile.Tracks.Add(new GpsTrack());
gpsFile.Tracks.First().Segments.Add(new GpsTrackSegment());
List <List <string> > nmeaFile = NmeaFileManager.ReadFile(fileName);
// Save the current date
DateTime currentDate;
// Look for first GPGGA record, which contains the current date
List <string> gprmcRecord = nmeaFile.Where(x => x[0].StartsWith("$GPRMC")).FirstOrDefault();
if (gprmcRecord == null)
{
throw new Exception("Unable to find a valid GPRMC in the Nmea file");
}
else
{
currentDate = NmeaFileManager.ParseGPRMC(gprmcRecord);
}
foreach (List <string> nmeaLine in nmeaFile)
{
// See what type of data it is
switch (nmeaLine[0])
{
case "$GPRMC":
// Date
currentDate = NmeaFileManager.ParseGPRMC(nmeaLine);
break;
case "$GPGGA":
// Gps Coordinate
GpsTrackPoint trackPoint = NmeaFileManager.ParseGPGGA(nmeaLine, currentDate);
if (trackPoint.IsValidCoordinate)
{
gpsFile.Tracks.Last().Segments.Last().Points.Add(trackPoint);
}
break;
default:
break;
}
}
return(gpsFile);
}
public void SaveGPS(GPSInfo gpsInfo)
{
if (Path == null)
{
return;
}
if (GpsFile == null)
{
GpsFile = new ADFile("GPS", "dat");
GpsFile.SetFileSizeLimit(GPSFileSize);
GpsFile.SetPath(new DirectoryInfo(Path));
GpsFile.Create();
}
if (GpsFile.Write(gpsInfo.SavePackage()) == 0)
{
throw new Exception("创建GPS文件失败！");
}
}
public void Close()
{
Path = null;
if (GpsFile != null)
{
GpsFile.Close();
}
if (PoseFile != null)
{
PoseFile.Close();
}
if (ADFile != null)
{
ADFile.Close();
}
if (PosFile != null)
{
PosFile.Close();
}
if (SonarSetting != null)
{
SonarSetting.Close();
}
}