// TODO: Verify that length of data (number of terms) is correct -> validate message
// Parses data into a List
public void ParseData(string InputString)
{
rawDataFile.WriteLine(InputString);
if (InputString.Length < 2)
{
return;
}
// Divide data by each comma
string[] DataString = InputString.Split(',');
// Ensure that there are at least 2 data objects in the string
if (DataString.Length < 2)
{
return;
}
// Initialize the start time (if necessary) and get the total seconds from the start time
if (startTime > DateTime.Now)
{
startTime = DateTime.Now;
}
double dataSeconds = DateTime.Now.Subtract(startTime).TotalSeconds;
// Checks for the "MX" tag. If no tag, we are not receiving data from MX vehicle
if (!DataString[1].Equals("MX"))
{
Console.WriteLine("Not Reading MX");
}
// Checks for 'A', 'B', or 'C' messages. If none, sends an error message
// 'A' message delivers time in milliseconds, barometric altitude (meters),
// airspeed, payload drop time, and payload drop altitude (meters)
if (DataString[0].Equals("A"))
{
// A,MX,MILLIS,ALT_BARO,ANALOG_PITOT,PRESS,TEMP,DROP_TIME,DROP_ALT
// Ignore data string if the lengths are not equal
if (DataString.Length < A_MSG_LEN)
{
return;
}
// Parse Data from String
DataDefault inDefault = new DataDefault();
inDefault.time_seconds = dataSeconds;
inDefault.alt_bar_ft = Convert.ToDouble(DataString[3]) * ConversionFactors.METERS_TO_FEET;
int AnalogPitotValue = (int)Convert.ToDouble(DataString[4]);
inDefault.pressure_pa = Convert.ToDouble(DataString[5]);
inDefault.temperature_c = Convert.ToDouble(DataString[6]);
inDefault.dropTime_seconds = Convert.ToDouble(DataString[7]) * ConversionFactors.MILLIS_TO_SECONDS;
inDefault.dropAlt_ft = Convert.ToDouble(DataString[8]) * ConversionFactors.METERS_TO_FEET;
// Calculate Airspeed from Analog Value
inDefault.airspeed_ft_s = PitotLibrary.GetAirspeedFeetSeconds(AnalogPitotValue, inDefault.temperature_c, inDefault.pressure_pa);
// Write Data to File
dataFile.WriteLine(inDefault.ToString());
// Add data object to data master list
MainDataMaster.DefaultDataList.Add(inDefault);
// Update the standard altitude plot and instruments
panelAltitudePlot.UpdateAltitude(inDefault.time_seconds, inDefault.alt_bar_ft);
//panelInstruments.UpdateInstruments(inDefault.airspeed_ft_s, inDefault.alt_bar_ft);
//panelInstruments.UpdateInstrumentsAir(inDefault.alt_bar_ft);
panelInstruments.UpdateInstrumentsAir(inDefault.airspeed_ft_s);
//panelInstruments.UpdateInstrumentsAlt(inDefault.alt_bar_ft);
// Check if a payload has been dropped
if (!PayloadDropped && inDefault.dropTime_seconds > 0)
{
panelDropStatus.UpdateDrop(inDefault.time_seconds, inDefault.alt_bar_ft);
panelAltitudePlot.UpdateAltitudeDrop(inDefault.time_seconds, inDefault.dropAlt_ft);
// Get the last GPS coordinate to plot drop on the GPS panel
// Sends aircraft and predicted drop GPS coordinates to DropPredictionStatus panel
// -> Will not show if GPS list is empty, no GPS position information
int gpsCount = MainDataMaster.GpsDataList.Count;
if (gpsCount > 0)
{
DataGPS lastGpsData = MainDataMaster.GpsDataList[gpsCount - 1];
panelGPSPlot.UpdateLatLonDrop(lastGpsData.gps_lat, lastGpsData.gps_lon);
panelDropPredictionStatus.UpdatePlaneLatLon(lastGpsData.gps_lat, lastGpsData.gps_lon);
LatLng predictedLatLng = PredictPayloadDropLoc(lastGpsData);
if (predictedLatLng != null)
{
panelDropPredictionStatus.UpdatePredictLatLon(predictedLatLng.lat, predictedLatLng.lon);
}
}
// Set PayloadDropped to true
PayloadDropped = true;
}
}
// 'B' message delivers time in milliseconds, the gps system, the gps latitude,
// the gps longitude, the gps measurement for groundspeed in knots,
// gps course (degrees), gps altitude (meters),
// gps hdop, and gps fixtime (milliseconds)
// Converts meters to feet, and knots to ft/s
// Divide some variables to restore proper values
else if (DataString[0].Equals("B"))
{
// B,MX,MILLIS,GPS_SYSTEM,LAT,LON,GPS_SPEED,GPS_COURSE,GPS_ALT,GPS_HDOP
// Ignore data string if the lengths are not equal
if (DataString.Length < B_MSG_LEN)
{
return;
}
// Parse GPS Data
DataGPS gpsData = new DataGPS();
gpsData.time_seconds = dataSeconds;
gpsData.gps_system = DataString[3];
gpsData.gps_lat = (Convert.ToDouble(DataString[4])) / 1000000; //degrees
gpsData.gps_lon = (Convert.ToDouble(DataString[5])) / 1000000; //degrees
gpsData.gps_speed_ft_s = ((Convert.ToDouble(DataString[6])) / 1000) * ConversionFactors.KNOTS_TO_FPS; //Converts Speed from Knots to ft/s
gpsData.gps_course = (Convert.ToDouble(DataString[7])) / 1000; //degrees
gpsData.gps_alt_ft = ((Convert.ToDouble(DataString[8])) / 1000) * ConversionFactors.METERS_TO_FEET;
gpsData.gps_hdop = (Convert.ToDouble(DataString[9])) / 10;
// Write data to file
dataFile.WriteLine(gpsData.ToString());
// Add data object to DataMaster
MainDataMaster.GpsDataList.Add(gpsData);
// Check if if latitude is within USA
if (((gpsData.gps_lat >= 20) && (gpsData.gps_lat <= 50)) && ((gpsData.gps_lon <= -65) && (gpsData.gps_lon >= -127)))
{
// Update GPS Panel with new location
panelGPSPlot.UpdateLatLon(gpsData.gps_lat, gpsData.gps_lon);
// Add tangent line between target and MX vehicle
if (TARGET_ON)
{
panelGPSPlot.UpdateLatLonTangent_Target(gpsData.gps_lat, gpsData.gps_lon, targetLocation.lat, targetLocation.lon);
}
// Update GPS altitude plot
//panelAltitudePlot.UpdateAltitudeGPS(gpsData.time_seconds, gpsData.gps_alt_ft);
// Predict payload drop location and display location on screen if it exists
LatLng predictedLatLng = PredictPayloadDropLoc(gpsData);
if (predictedLatLng != null)
{
panelGPSPlot.UpdateLatLonPredict(predictedLatLng.lat, predictedLatLng.lon);
panelGPSPlot.UpdateLatLonTangent_Predict(gpsData.gps_lat, gpsData.gps_lon, predictedLatLng.lat, predictedLatLng.lon);
}
}
}
// 'C' message delivers gyro data. Gives time in milliseconds; x, y, and z gyro values;
// and x, y, and z acceleration values.
// Gyro in radians/s
// Acceleration in m/s^2
else if (DataString[0].Equals("C"))
{
// C,MX,MILLIS,GYROX,GYROY,GYROZ,ACCELX,ACCELY,ACCELZ
// Ignore data string if the lengths are not equal
if (DataString.Length < C_MSG_LEN)
{
return;
}
// Parse incoming data
DataAccelGyro gyroData = new DataAccelGyro();
gyroData.time_seconds = dataSeconds;
gyroData.gyro_x = Convert.ToDouble(DataString[3]);
gyroData.gyro_y = Convert.ToDouble(DataString[4]);
gyroData.gyro_z = Convert.ToDouble(DataString[5]);
gyroData.accel_x = Convert.ToDouble(DataString[6]);
gyroData.accel_y = Convert.ToDouble(DataString[7]);
gyroData.accel_z = Convert.ToDouble(DataString[8]);
// Write data to file
dataFile.WriteLine(gyroData.ToString());
// Add data object to DataMaster
MainDataMaster.GryoAccelDataList.Add(gyroData);
}
// 'D' message delivers extra data. As of 2017-2018, delivers additional altitude data
else if (DataString[0].Equals("D"))
{
// D,MX,MILLIS,BAROALT
// Ignore string if length is not equal
if (DataString.Length < D_MSG_LEN)
{
return;
}
//Parse incoming data
DataD extraData = new DataD();
extraData.time_seconds = dataSeconds;
extraData.alt = Convert.ToDouble(DataString[3]) * ConversionFactors.METERS_TO_FEET;
// Write data to file
dataFile.WriteLine(extraData.ToString());
// Add data object to DataMaster
MainDataMaster.DataDList.Add(extraData);
// Update altitude plot with additional altitude
panelAltitudePlot.UpdateAltitudeBarometer(extraData.time_seconds, extraData.alt);
// Update altitude in instruments panel
panelInstruments.UpdateInstrumentsAlt(extraData.alt);
}
else
{
// If unknown message, write information to console
dataFile.WriteLine("Unknown Message: " + InputString);
}
}
public void Dispose()
{
DataD.Dispose();
BiasD.Dispose();
}
