private void NmeaDevice_MessageReceived(object sender, NmeaMessageReceivedEventArgs e)
{
if (e.Message is Rmc rmc)
{
UpdateLocation(rmc.Latitude, rmc.Longitude, rmc.Course);
}
}
private void DeviceOnMessageReceived(object sender, NmeaMessageReceivedEventArgs e)
{
switch (e.Message)
{
case Gpgsa gpgsa:
Console.WriteLine(gpgsa.GpsMode);
return;
case Gpgll gpgll:
Console.WriteLine(gpgll.FixTime);
return;
case Gprmc gprmc:
Console.WriteLine(gprmc.Course);
return;
case Gpgga gpgga:
Console.WriteLine(gpgga.Hdop);
return;
case Gpgsv gpgsv:
Console.WriteLine(gpgsv.SVsInView);
return;
}
var msg = e.Message;
Console.WriteLine($"Type of : {msg.GetType()}");
//Console.ReadKey();
}
static void OnNmeaMessageReceived(object sender, NmeaMessageReceivedEventArgs args)
{
if (args.Message is Rmc rmc)
{
Console.WriteLine($"Latitude::{rmc.Latitude}\tLongitude::{rmc.Longitude}");
}
}
private static void OnNmeaMessageReceived(object sender, NmeaMessageReceivedEventArgs args)
{
// called when a message is received
if (args.Message is NmeaParser.Messages.Rmc rmc)
{
Console.WriteLine($"Your current location is: {GpsCoordinatesFormatter.ParseLatitude(rmc.Latitude)} {GpsCoordinatesFormatter.ParseLongitude(rmc.Longitude)}");
}
}
/// <summary>
/// Event handler for the SerialGPS, parses the NMEA message and updates CurrentGeopoint.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void _serialGPSDevice_MessageReceived(object sender, NmeaMessageReceivedEventArgs e)
{
if (!_serialGPSDeviceFound)
{
_serialGPSDeviceFound = true;
}
double Latitude = 0.0, Longitude = 0.0;
NMEAMessage = e.Message.ToString();
//Parse all NMEA messages supported by BU353-s4.
//Only GGA, RMC, and GLL support location
switch (e.Message.MessageType)
{
case "GPGGA":
Gpgga gga = (Gpgga)e.Message;
Latitude = gga.Latitude;
Longitude = gga.Longitude;
break;
case "GPRMC":
Gprmc rmc = (Gprmc)e.Message;
Latitude = rmc.Latitude;
Longitude = rmc.Longitude;
break;
case "GPGLL":
Gpgll gll = (Gpgll)e.Message;
Latitude = gll.Latitude;
Longitude = gll.Longitude;
break;
case "GPGSA":
Gpgsa gsa = (Gpgsa)e.Message;
break;
case "GPGSV":
Gpgsv gsv = (Gpgsv)e.Message;
break;
}
//make sure the delta-p is above a threshold
if (Latitude != 0.0 && Longitude != 0.0)
{
double distance = Haversine(Latitude, Longitude, CurrentGeopoint.Position.Latitude, CurrentGeopoint.Position.Longitude);
if (distance > 0) //2.5m is minimum accuracy of BU-353 S4 and WAAS/SBAS corrections
{
CurrentGeopoint = CreateGeopoint(Latitude, Longitude);
}
}
}
private void NmeaStreamDevice_MessageReceived(object sender, NmeaMessageReceivedEventArgs e)
{
if (!messageStats.ContainsKey(e.Message.MessageType))
{
messageStats.Add(e.Message.MessageType, 0);
}
messageStats[e.Message.MessageType]++;
switch (e.Message.MessageType)
{
case "GPGSV":
Gpgsv gpgsv = (Gpgsv)e.Message;
numSattelites = gpgsv.SVsInView;
break;
case "GPGLL": //enthält GPS Daten
Gpgll gpgll = (Gpgll)e.Message;
if (gpgll.DataActive)
{
lon = gpgll.Longitude;
lat = gpgll.Latitude;
validGpsSignal = true;
gpsLlTimestamp = DateTime.Now;
}
break;
case "GPGSA":
Gpgsa gpgsa = (Gpgsa)e.Message;
fixMode = gpgsa.FixMode;
break;
case "GPRMC": //enthält GPS Daten
Gprmc gprmc = (Gprmc)e.Message;
break;
case "GPVTG":
break;
case "GPZDA":
break;
case "GPGGA": //enthält GPS Daten
Gpgga gpgga = (Gpgga)e.Message;
altitude = gpgga.Altitude;
break;
default:
lock (lockVictim)
{
tourStreamWriter.WriteLine(String.Format("UNIMP_GPS;", e.Message.ToString()));
}
break;
}
}
private void HandleNmeaMessage(object sender, NmeaMessageReceivedEventArgs eventArgs)
{
if (eventArgs.Message is NmeaParser.Messages.Rmc rmc)
{
this.Longitude = rmc.Longitude;
this.Latitude = rmc.Latitude;
this.OnPositionDetected?.Invoke(new Position()
{
latitude = (float)rmc.Latitude, longitude = (float)rmc.Longitude
});
}
}
