// this is a "class packet" factory which converts received packets into usable classes
// (packet classes defined in MagellanProtoDef.cs). We assume that basicParse() was run
// on this packet before calling fromString()
public NmeaPacket fromString()
{
NmeaPacket ret = null;
if (m_string == null)
{
logError("NmeaPacketReceived:fromString() -- m_string==null");
return(ret);
}
switch (m_header)
{
case "ADVER":
case "PMGNVER":
ret = this; // all we need is already in fields array
break;
case "PMGNRTE":
// $PMGNRTE,14,2,c,1,T01P03,a,T01P04,a*35
case "PMGNTRK":
// $PMGNTRK,3334.530,N,11739.837,W,00000,M,034414.24,A*62
case "PMGNWPL":
// $PMGNWPL,3328.069,N,11738.812,W,0000000,M,Road to,GCF320 = Road to Wat,a*68
ret = this; // all we need is already in fields array
break;
case "PMGNST":
case "GPGSV":
case "GPGGA":
case "GPRMC":
case "GPGLL":
ret = this; // all we need is already in fields array
break;
default:
logError("NmeaPacketReceived:fromString() -- unknown header=" + m_header);
ret = this; // may be all we need is already in fields array
break;
}
return(ret);
}
public override bool process(string url, string filename, string source)
{
bool ret = true;
LibSys.StatusBar.Trace("IP: FileNmeaLog:process() filename=" + filename);
int wpCount = 0;
int lineno = 0;
int packetsCount = 0;
Cursor.Current = Cursors.WaitCursor;
try
{
string line;
double zoneShift = 0.0d;
NmeaPacketReceived packetIn = null;
CreateInfo createInfo = new CreateInfo(); // we will recycle it in place, filling every time.
double lat = 0.0d;
double lng = 0.0d;
// we allow elev and dateTime to stay in the cycle and be promoted/inherited to points that do not have this data in NMEA sentence.
double elev = 0.0d; // alt above mean sea level
DateTime dateTime = DateTime.Now;
StreamReader stream = new StreamReader(filename);
while ((line = stream.ReadLine()) != null)
{
lineno++;
// we are in a VERY long cycle here, need to make sure Windows events and memory are managed
Application.DoEvents();
if (lineno % 1000 == 0)
{
GC.Collect();
}
line = line.Trim();
if (string.IsNullOrEmpty(line))
{
continue;
}
try
{
// first see if that was a proprietary, non-NMEA packet:
if (line.IndexOf("*") < 0)
{
LibSys.StatusBar.Trace("proprietary packet: " + line);
if (packetIn != null && packetIn.isGood)
{
LibSys.StatusBar.Trace("last good NMEA packet: " + packetIn);
}
if (line.StartsWith("$ADVER,"))
{
Project.trackId++;
createInfo.init("trk");
createInfo.id = Project.trackId;
createInfo.source = source;
createInfo.name = "GPS NMEA Log";
insertWaypoint(createInfo);
}
}
else
{
packetIn = new NmeaPacketReceived();
packetIn.isGood = false;
packetIn.m_string = line;
if (!NmeaPacket.checksumVerify(packetIn.m_string))
{
packetIn.isGood = false;
LibSys.StatusBar.Error("bad checksum, line " + lineno + " bad packet: " + line);
}
else
{
packetIn.isGood = packetIn.basicParse(packetIn.m_string);
// packet is good and parsed, so the fields array is filled
//LibSys.StatusBar.Trace("NMEA packet: " + packetIn);
if (packetIn.header.EndsWith("GGA")) // NMEA GGA expected for location
{
//LibSys.StatusBar.Trace("process: " + packetIn.header + " packet, count=" + packetsCount + " content=" + packetIn);
try
{
NmeaPacket pvt = packetIn.fromString();
/*
* $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
*
* Where:
* GGA Global Positioning System Fix Data
* 0 123519 Fix taken at 12:35:19 UTC
* 1 4807.038,N Latitude 48 deg 07.038' N
* 3 01131.000,E Longitude 11 deg 31.000' E
* 5 1 Fix quality: 0 = invalid
* 1 = GPS fix
* 2 = DGPS fix
* 6 = estimated (2.3 feature)
* 6 08 Number of satellites being tracked
* 7 0.9 Horizontal dilution of position
* 8 545.4,M Altitude, Meters, above mean sea level
* 10 46.9,M Height of geoid (mean sea level) above WGS84
* ellipsoid
* 12 (empty field) time in seconds since last DGPS update
* 13 (empty field) DGPS station ID number
* 47 the checksum data, always begins with *
*/
lat = pvt.parseLat(1);
lng = pvt.parseLng(1);
elev = pvt.parseElev(8); // alt above mean sea level
// time component (don't know the date):
dateTime = pvt.parseNmeaTime(0, dateTime); // UTC
dateTime = dateTime.AddHours(-zoneShift);
// errors and velocity:
double posError = 0;
double posErrorH = 0;
double posErrorV = 0;
double fix = 0; // failed integrity check
switch ((string)pvt.fields[5])
{
case "0": // invalid
fix = 1; // invalid
break;
case "1": // GPS fix
fix = 2; // two dimensional
break;
case "2": // DGPS fix
fix = 4; // two dimensional differential
break;
case "6": // estimated
fix = 6; // estimated
break;
}
string comment = "received " + packetIn.header;
//realtimeCallback(pvtData);
createInfo.init("trkpt");
createInfo.id = Project.trackId; // relate waypoint to track
createInfo.dateTime = dateTime;
createInfo.lat = lat;
createInfo.lng = lng;
createInfo.elev = elev;
createInfo.source = source;
insertWaypoint(createInfo);
wpCount++;
packetsCount++;
}
catch (Exception ee)
{
LibSys.StatusBar.Error("StartRealTime: " + ee.Message);
}
}
else if (packetIn.header.EndsWith("RMC")) // NMEA RMC may come
{
//LibSys.StatusBar.Trace("process: " + packetIn.header + " packet, count=" + packetsCount + " content=" + packetIn);
try
{
NmeaPacket pvt = packetIn.fromString();
// $GPRMC,052458.73,V,3334.6441,N,11739.6622,W,00.0,000.0,290103,13,E*4F
/*
* see http://www.gpsinformation.org/dale/nmea.htm for NMEA reference
*
* RMC - NMEA has its own version of essential gps pvt (position, velocity, time) data.
* It is called RMC, The Recommended Minimum, which might look like:
*
* $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
* $GPRMC,050821.000,A,3334.5551,N,11739.7705,W,0.00,,251006,,,A*67
*
* Where:
* RMC Recommended Minimum sentence C
* 0 123519 Fix taken at 12:35:19 UTC
* 1 A Status A=active or V=Void.
* 2 4807.038,N Latitude 48 deg 07.038' N
* 4 01131.000,E Longitude 11 deg 31.000' E
* 6 022.4 Speed over the ground in knots
* 7 084.4 Track angle in degrees True
* 8 230394 Date - 23rd of March 1994
* 9 003.1,W Magnetic Variation
* 6A The checksum data, always begins with *
*
* Note that, as of the 2.3 release of NMEA, there is a new field in the RMC sentence
* at the end just prior to the checksum. The value of the entry is
* A=autonomous, D=differential, E=estimated, N=Data not valid.
*/
bool status = "A".Equals(pvt.fields[1]);
if (status)
{
lat = pvt.parseLat(2);
lng = pvt.parseLng(2);
//double elev = 0.0d; // inherit elevation from a GGA
//LibSys.StatusBar.Trace("coord=" + pvtData.location);
// time component (only time part):
dateTime = pvt.parseNmeaDateTime(0, 8); // UTC
dateTime = dateTime.AddHours(-zoneShift);
//if (!"".Equals(pvt.fields[6]))
//{
// double knots = Convert.ToDouble(pvt.fields[6]);
// pvtData.velocity = knots * Distance.METERS_PER_NAUTICAL_MILE / 3600.0d;
// // calculate velocity vector based on track angle:
// if (!"".Equals(pvt.fields[7]))
// {
// double trackAngleRad = Convert.ToDouble(pvt.fields[7]) * Math.PI / 180.0d;
// pvtData.velocityNorth = pvtData.velocity * Math.Cos(trackAngleRad);
// pvtData.velocityEast = pvtData.velocity * Math.Sin(trackAngleRad);
// }
//}
//pvtData.fix = 2; // assume two-dimensional
//pvtData.comment = "received " + received.header;
createInfo.init("trkpt");
createInfo.id = Project.trackId; // relate waypoint to track
createInfo.dateTime = dateTime;
createInfo.lat = lat;
createInfo.lng = lng;
createInfo.elev = elev;
createInfo.source = source;
insertWaypoint(createInfo);
wpCount++;
}
packetsCount++;
}
catch (Exception ee)
{
LibSys.StatusBar.Error("StartRealTime: " + ee.Message);
}
}
else if (packetIn.header.EndsWith("WPL")) // NMEA WPL may come as a result of manually marking a location
{
//LibSys.StatusBar.Trace("process: " + packetIn.header + " packet, count=" + packetsCount + " content=" + packetIn);
try
{
NmeaPacket pvt = packetIn.fromString();
// $GPWPL,3334.7038,N,11739.7796,W,00001*61
/*
* see http://www.gpsinformation.org/dale/nmea.htm for NMEA reference
*
* WPL - Waypoint Location data provides essential waypoint data. It is output when navigating to indicate data about the destination
* and is sometimes supported on input to redefine a waypoint location. Note that waypoint data as defined in the standard
* does not define altitude, comments, or icon data. When a route is active, this sentence is sent once for each waypoint in
* the route, in sequence. When all waypoints have been reported, the RTE sentence is sent in the next data set.
* In any group of sentences, only one WPL sentence, or an RTE sentence, will be sent.
*
* $GPWPL,4807.038,N,01131.000,E,WPTNME*5C
*
* With an interpretation of:
*
* WPL Waypoint Location
* 0 4807.038,N Latitude
* 1 01131.000,E Longitude
* 2 WPTNME Waypoint Name
* 5C The checksum data, always begins with *
*
*/
lat = pvt.parseLat(0);
lng = pvt.parseLng(0);
//elev = 0.0d; // inherit elevation
//LibSys.StatusBar.Trace("coord=" + pvtData.location);
createInfo.init("wpt");
createInfo.lat = lat;
createInfo.lng = lng;
createInfo.elev = elev;
createInfo.dateTime = dateTime;
createInfo.name = "" + pvt.fields[4];
createInfo.source = source;
insertWaypoint(createInfo);
wpCount++;
packetsCount++;
}
catch (Exception ee)
{
LibSys.StatusBar.Error("StartRealTime: " + ee.Message);
}
}
//else if (packetIn.header.EndsWith("GLL")) // NMEA GLL may come
//{
// LibSys.StatusBar.Trace("process: " + packetIn.header + " packet, count=" + packetsCount + " content=" + packetIn);
// try
// {
// NmeaPacket pvt = packetIn.fromString();
// // $GPGLL,3334.6464,N,11739.6583,W,052707.129,A*29
// /*
// * see http://www.gpsinformation.org/dale/nmea.htm for NMEA reference
// *
// GLL - Geographic Latitude and Longitude is a holdover from Loran data and some old units
// may not send the time and data valid information if they are emulating Loran data.
// If a gps is emulating Loran data they may use the LC Loran prefix instead of GP.
// $GPGLL,4916.45,N,12311.12,W,225444,A,*31
// Where:
// GLL Geographic position, Latitude and Longitude
// 0 4916.46,N Latitude 49 deg. 16.45 min. North
// 2 12311.12,W Longitude 123 deg. 11.12 min. West
// 4 225444 Fix taken at 22:54:44 UTC
// 5 A Data valid or V (void)
// *31 checksum data
// */
// bool status = "A".Equals(pvt.fields[5]);
// if (status)
// {
// double lat = pvt.parseLat(0);
// double lng = pvt.parseLng(0);
// double elev = 0.0d;
// // time component (only time part):
// //pvtData.time = pvt.parseNmeaTime(4); // UTC
// //pvtData.fix = 2; // assume two-dimensional
// //pvtData.comment = "received " + received.header;
// createInfo.init("trkpt");
// createInfo.id = Project.trackId; // relate waypoint to track
// //createInfo.dateTime = dateTime;
// createInfo.lat = lat;
// createInfo.lng = lng;
// createInfo.elev = elev;
// createInfo.source = source;
// insertWaypoint(createInfo);
// wpCount++;
// }
// packetsCount++;
// }
// catch (Exception ee)
// {
// LibSys.StatusBar.Error("StartRealTime: " + ee.Message);
// }
//}
else if (packetIn.header.EndsWith("GSV")) // NMEA GSV may come for satellite reception status
{
//LibSys.StatusBar.Trace("process: " + packetIn.header + " packet, count=" + packetsCount + " content=" + packetIn);
// /*
// * see http://www.gpsinformation.org/dale/nmea.htm for NMEA reference
// *
// $GPGSV,3,1,08,14,69,204,,15,57,105,36,18,45,047,36,03,42,263,36*71
// $GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75
// Where:
// GSV Satellites in view
// 0 2 Number of sentences for full data
// 1 1 sentence 1 of 2
// 2 08 Number of satellites in view
// for up to 4 satellites per sentence {
// 3 01 Satellite PRN number
// 4 40 Elevation, degrees
// 5 083 Azimuth, degrees
// 6 46 Signal strength - higher is better
// }
// *75 the checksum data, always begins with *
// */
// //MPacket pvt = received.fromString();
// //pvtData.comment = "received";
// //realtimeCallback(pvtData);
packetsCount++;
}
else if (packetIn.header.EndsWith("VTG")) // NMEA GSA may come
{
//LibSys.StatusBar.Trace("process: " + packetIn.header + " packet, count=" + packetsCount + " content=" + packetIn);
// $GPVTG,309.62,T,,M,0.13,N,0.2,K*6E
/*
* VTG - Course Over Ground and Ground Speed
*
* Name Example Units Description
* Message ID $GPVTG VTG protocol header
* Course 309.62 degrees Measured heading
* Reference T True
* Course degrees Measured heading
* Reference M Magnetic
* Speed 0.13 knots Measured horizontal speed
* Units N Knots
* Speed 0.2 Km/hr Measured horizontal speed
* Units K Kilometers per hour
*/
packetsCount++;
}
else if (packetIn.header.EndsWith("GSA")) // NMEA GSA may come
{
//LibSys.StatusBar.Trace("process: " + packetIn.header + " packet, count=" + packetsCount + " content=" + packetIn);
// $GPGSA,A,2,15,18,14,31,,,,,,,,,05.6,05.6,*17
/*
* see http://www.gpsinformation.org/dale/nmea.htm for NMEA reference
*
* GSA - GPS DOP and active satellites. This sentence provides details on the nature of the
* fix. It includes the numbers of the satellites being used in the current solution and
* the DOP. DOP (dilution of precision) is an indication of the effect of satellite geometry
* on the accuracy of the fix. It is a unitless number where smaller is better. For 3D fixes
* using 4 satellites a 1.0 would be considered to be a perfect number. For overdetermined
* solutions it is possible to see numbers below 1.0. There are differences in the way the
* PRN's are presented which can effect the ability of some programs to display this data.
* For example, in the example shown below there are 5 satellites in the solution and
* the null fields are scattered indicating that the almanac would show satellites in
* the null positions that are not being used as part of this solution. Other receivers
* might output all of the satellites used at the beginning of the sentence with the
* null field all stacked up at the end. This difference accounts for some satellite
* display programs not always being able to display the satellites being tracked.
*
* $GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39
*
* Where:
* GSA Satellite status
* A Auto selection of 2D or 3D fix (M = manual)
* 3 3D fix - other values include: 1 = no fix
* 2 = 2D fix
* 04,05... PRNs of satellites used for fix (space for 12)
* 2.5 PDOP (dilution of precision)
* 1.3 Horizontal dilution of precision (HDOP)
* 2.1 Vertical dilution of precision (VDOP)
* 39 the checksum data, always begins with *
*
*/
packetsCount++;
}
else
{
LibSys.StatusBar.Trace("StartRealTime: good other (unrecognized) packet received, count=" + packetsCount + " content=" + packetIn);
}
}
}
}
catch (Exception ee)
{
LibSys.StatusBar.Error("FileNmeaLog:process(): file=" + filename + " line=" + lineno + " " + ee.Message);
}
}
}
catch (Exception eee)
{
LibSys.StatusBar.Error("FileNmeaLog:process(): " + eee.Message);
ret = false;
}
finally
{
Cursor.Current = Cursors.Default;
Application.DoEvents();
}
LibSys.StatusBar.Trace("OK: FileNmeaLog:process() filename=" + filename + " lines=" + lineno + ", packets=" + packetsCount + " waypoints=" + wpCount);
return(ret);
}