public static void SetGpsState(this NmeaMessage[] nmeas, ref GpsState state)
{
if (!nmeas?.Any() ?? true)
{
return;
}
var lastGga = nmeas.Where(x => x is GpggaMessage)?.Cast <GpggaMessage>()?.OrderBy(x => x.FixTime)
?.LastOrDefault();
var lastGsa = nmeas.Where(x => x is GpgsaMessage)?.Cast <GpgsaMessage>()
?.LastOrDefault();
if (lastGga == null && lastGsa == null)
{
return;
}
state = state ?? new GpsState();
state.SatelliteFix = lastGsa?.SatelliteFix ?? state.SatelliteFix;
state.Hdop = lastGga?.Hdop ?? lastGsa?.Hdop ?? state.Hdop;
state.Vdop = lastGsa?.Vdop ?? state.Vdop;
state.Pnrs = lastGsa?.Pnrs ?? state.Pnrs;
state.FixQuality = lastGga?.FixQuality ?? state.FixQuality;
state.NumberOfSatellites = lastGga?.NumberOfSatellites ?? state.NumberOfSatellites;
}
public Gps(string gpsDeviceName, BaudRate baudRate)
{
this.GpsDeviceName = gpsDeviceName;
NmeaParser = new NmeaParser();
this.State = new GpsState();
GpsDevice = new SerialDevice(gpsDeviceName, baudRate);
GpsDevice.DataReceived += (sender, bytes) =>
{
var nmeas = DeserializeMessages(bytes);
nmeas.SetGpsState(ref State);
var position = nmeas?.GetPosition();
if (position == null)
{
return;
}
Position = position;
var args = new GpsUpdateEventArgs(Position, State, GpsDevice);
OnGpsUpdate(this, args);
};
}
public GpsUpdateEventArgs(GeoPosition <GeoCoordinate> position, GpsState state, SerialDevice gpsDevice)
{
this.Position = position;
this.GpsDevice = gpsDevice;
this.State = state;
}