public static FixQuality parseFixQuality(string fix_quality_string)
{
FixQuality fq = FixQuality.invalid;
switch (fix_quality_string)
{
case "0": fq = FixQuality.invalid; break;
case "1": fq = FixQuality.GPS_Fix; break;
case "2": fq = FixQuality.DGPS_Fix; break;
case "3": fq = FixQuality.PPS_Fix; break;
case "4": fq = FixQuality.Real_Time_Kinematic; break;
case "5": fq = FixQuality.Float_RTK; break;
case "6": fq = FixQuality.estimated; break;
case "7": fq = FixQuality.manual_input_mode; break;
case "8": fq = FixQuality.simulation_mode; break;
}
return(fq);
}
private static string FixQuality_ToString(FixQuality fq)
{
string result = String.Empty;
switch (fq)
{
case FixQuality.invalid: result = "invalid"; break;
case FixQuality.GPS_Fix: result = "GPS fix (SPS)"; break;
case FixQuality.DGPS_Fix: result = "DGPS fix"; break;
case FixQuality.PPS_Fix: result = "PPS fix"; break;
case FixQuality.Real_Time_Kinematic: result = "Real Time Kinematic"; break;
case FixQuality.Float_RTK: result = "Float RTK"; break;
case FixQuality.estimated: result = "estimated (dead reckoning)"; break;
case FixQuality.manual_input_mode: result = "Manual input mode"; break;
case FixQuality.simulation_mode: result = "Simulation mode"; break;
}
return(result);
}
private void HandleSentence(GGA data)
{
lock (m_lock)
{
m_altitude = data.Altitude;
m_activeSatelites = data.ActiveSatellites;
m_fixQuality = data.Quality;
}
}
public void Read(string[] fields)
{
if (fields.Length != 15)
{
throw new InvalidDataException(string.Format("$GPGGA sentence needs to have 15 fields, but {0} were found.", fields.Length));
}
int n = 0;
if (fields[n] != "$GPGGA")
throw new InvalidDataException(string.Format("Expected \"$GPGGA\", found \"{0}\"", fields[n]));
n++;
Time = ParseTime(fields[n]);
n++;
Latitude = ParseLatitude(fields[n], fields[n + 1]);
n += 2;
Longitude = ParseLongitude(fields[n], fields[n + 1]);
n += 2;
int quality = int.Parse(fields[n]);
if (quality >= 0 && quality <= 8)
Quality = (FixQuality)quality;
else
throw new InvalidDataException(string.Format("Fix quality is an unknown value: {0}", fields[n]));
n++;
NumberOfSatellites = int.Parse(fields[n]);
n++;
HDOP = double.Parse(fields[n]);
n++;
double altitude;
if (double.TryParse(fields[n], out altitude))
Altitude = altitude;
n++;
if (Altitude.HasValue && fields[n] != "M")
throw new InvalidDataException(string.Format("Altitude must be in meters (\"M\"), got \"{0}\" instead.", fields[n]));
n++;
double heightOfGeoid;
if (double.TryParse(fields[n], out heightOfGeoid))
HeightOfGeoid = heightOfGeoid;
n++;
if (HeightOfGeoid.HasValue && fields[n] != "M")
throw new InvalidDataException(string.Format("Height of Geoid must be in meters (\"M\"), got \"{0}\" instead.", fields[n]));
// DGPS not implemented
}
public static string Format(GPSPosition pos, FixQuality Quality)
{
return(string.Format(
"{0}\n" +
"X {1:0.00}\n" +
"Y {2:0.00}\n" +
"Z {3:0.00}\n" +
"Q {4}",
pos.Projection.Replace("_", " "),
pos.North, pos.East, pos.Altitude,
Quality.ToString()));
}
internal NmeaFixMessage(
DateTime time,
LatLonCoord coords,
double altitude, // Above sea level
FixQuality quality,
int sateliteCount)
{
this.Time = time;
this.Coords = coords;
this.Altitude = altitude;
this.Quality = quality;
this.SateliteCount = sateliteCount;
}
/// <summary>
/// Initializes a new instance of the <see cref="GgaLine"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public GgaLine(string nmeaLine) : base(NmeaType.Gga, nmeaLine)
{
FixTime = Helper.StringToTimeSpan(message[0]);
var latitude = Helper.StringToLatitude(message[1], message[2]);
var longitude = Helper.StringToLongitude(message[3], message[4]);
message[8].TryToDouble(out var altitude);
var altitudeUnits = message[9];
Position = new GeoCoordinate(latitude, longitude, altitude, altitudeUnits);
FixQuality quality = message[5].TryToInt32(out var fixQuality) ? (FixQuality)fixQuality : FixQuality.Invalid;
Quality = quality;
message[7].TryToDouble(out var hdop);
Hdop = hdop;
if (message[12].TryToDouble(out var timeInSeconds))
{
TimeSinceLastDgpsUpdate = timeInSeconds.Seconds();
}
else
{
TimeSinceLastDgpsUpdate = TimeSpan.MaxValue;
}
if (message[13].Length > 0)
{
DgpsStationId = int.Parse(message[13], CultureInfo.InvariantCulture);
}
else
{
DgpsStationId = -1;
}
message[6].TryToInt32(out var numberOfSatellites);
NumberOfSatellites = numberOfSatellites;
message[10].TryToDouble(out var geoidalSeparation);
GeoidalSeparation = geoidalSeparation;
var geoidalSeparationUnits = message[11];
GeoidalSeparationUnits = geoidalSeparationUnits;
}
public void Decode(Tokenizer tok)
{
m_time = tok.GetTime();
m_latitude = tok.GetLatitude();
m_longtitude = tok.GetLongitude();
m_fixQuality = (FixQuality)tok.GetInt();
m_nSatellites = tok.GetInt();
m_horizontalDilution = tok.GetDouble();
m_altitude = tok.GetDouble();
tok.Skip();
m_heightOfGeoid = tok.GetDouble();
tok.Skip();
m_lastDGPSUpdate = tok.GetDouble();
tok.Skip();
m_dgpsStationId = tok.GetInt();
}
protected Emulator(string name)
{
_Name = name;
// Create new buffers for reading and writing
_ReadBuffer = new List <byte>(_DefaultReadBufferSize);
_WriteBuffer = new List <byte>(_DefaultWriteBufferSize);
// Initialize simulated values
_ReadDataAvailableWaitHandle = new ManualResetEvent(false);
_WriteDataAvailableWaitHandle = new ManualResetEvent(false);
_EmulationIntervalWaitHandle = new ManualResetEvent(false);
// Default timeouts for reading and writing
_ReadTimeout = _DefaultReadTimeout;
_WriteTimeout = _DefaultWriteTimeout;
// Simulated values
_seed = new Random();
_UtcDateTime = DateTime.UtcNow;
_CurrentPosition = Positioning.Position.Empty;
_Altitude = Distance.FromFeet(1000);
_Route = new List <Position>();
_Satellites = new List <Satellite>();
_FixQuality = FixQuality.GpsFix;
_FixMode = FixMode.Automatic;
_FixMethod = FixMethod.Fix3D;
_FixStatus = FixStatus.Fix;
_HorizontalDop = DilutionOfPrecision.Good;
_VerticalDop = DilutionOfPrecision.Good;
_MeanDop = DilutionOfPrecision.Good;
_Speed = Speed.FromStatuteMilesPerHour(20);
_speedLow = Speed.FromKilometersPerSecond(10).Value;
_speedHigh = Speed.FromKilometersPerSecond(25).Value;
_Bearing = Azimuth.Southwest;
_bearingStart = _seed.NextDouble() * 360;
_bearingArc = 10;
}
protected Emulator(string name)
{
_Name = name;
// Create new buffers for reading and writing
_ReadBuffer = new List<byte>(_DefaultReadBufferSize);
_WriteBuffer = new List<byte>(_DefaultWriteBufferSize);
// Initialize simulated values
_ReadDataAvailableWaitHandle = new ManualResetEvent(false);
_WriteDataAvailableWaitHandle = new ManualResetEvent(false);
_EmulationIntervalWaitHandle = new ManualResetEvent(false);
// Default timeouts for reading and writing
_ReadTimeout = _DefaultReadTimeout;
_WriteTimeout = _DefaultWriteTimeout;
// Simulated values
_seed = new Random();
_UtcDateTime = DateTime.UtcNow;
_CurrentPosition = GeoFramework.Position.Empty;
_Altitude = Distance.FromFeet(1000);
_Route = new List<Position>();
_Satellites = new List<Satellite>();
_FixQuality = FixQuality.GpsFix;
_FixMode = FixMode.Automatic;
_FixMethod = FixMethod.Fix3D;
_FixStatus = FixStatus.Fix;
_HorizontalDop = DilutionOfPrecision.Good;
_VerticalDop = DilutionOfPrecision.Good;
_MeanDop = DilutionOfPrecision.Good;
_Speed = Speed.FromStatuteMilesPerHour(20);
_speedLow = Speed.FromKilometersPerSecond(10).Value;
_speedHigh = Speed.FromKilometersPerSecond(25).Value;
_Bearing = Azimuth.Southwest;
_bearingStart = _seed.NextDouble() * 360;
_bearingArc = 10;
}
/// <summary>
/// Creates a new instance with the specified fix quality measurement.
/// </summary>
/// <param name="fixQuality">A value from the <strong>FixQuality</strong> enumeration.</param>
/// <remarks></remarks>
public FixQualityEventArgs(FixQuality fixQuality)
{
_FixQuality = fixQuality;
}
/// <summary>
/// OnSentanceChanged event handler
/// </summary>
protected override void OnSentenceChanged()
{
base.OnSentenceChanged();
// Cache the sentence words
string[] words = Words;
int wordCount = words.Length;
/*
* Garmin produces several embedded GPS systems. They are easy to setup because Garmin provides a nice utility for uploading configuration data to the GPS. You first load the utility to a PC. Connect the PC to the GPS through one of the serial ports. The utility will check each baud rate until it communicates with the GPS.
The common configuration parameters are output sentences from the GPS unit, the communication baud rate with a host, and the required pulse per second.
Each sentence is preceded with a ‘$’ symbol and ends with a line-feed character. At one sentence per second, the following is out put in four seconds:
$PGRMF, 223, 424798, 041203, 215945, 13, 0000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*3B
$PGRMF, 223, 424799, 041203, 215946, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*39
$PGRMF, 223, 424800, 041203, 215947, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*34
$PGRMF, 223, 424801, 041203, 215948, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*35
The sentence is proprietary to the Garmin GPS Global Positioning System and is translated below.
$PGRMF
<1>GPS Week Number(0-1023)
<2>GPS Seconds (0 - 604799)
<3>UTC Date of position fix, ddmmyy format
<4>UTC time of position fix, hhmmss format
<5>GPS leap second count
<6>Latitude, ddmm.mmmm format (leading zeros transmitted)
<7>Latitude hemisphere N or S
<8>Longitude, ddmm.mmmm format (leading zeros transmitted)
<9>Longitude hemisphere N or S
<10>Mode M = Manual, A automatic
<11>Fix type 0 = No Fix, 1 = 2D Fix, 2 = 3D fix
<12>Speed over ground, 0 to 359 degrees true
<13>Course over ground, 0 to 9 (rounded to nearest intvalue)
<14>Time dilution of precision, 0 to 9 (rnded nearest int val)
<15>Time dilution of precision, 0 to 9 (rnded nearest int val)
*hh <CR><LF>
*/
// TODO: Convert GPS week number/seconds to UTC date/time
// Do we have enough words to parse the fix status?
if (wordCount >= 4 && words[2].Length != 0 && words[3].Length != 0)
{
// Build a UTC date/time object.
_utcDateTime = new DateTime(
int.Parse(words[2].Substring(4, 2), NmeaCultureInfo) + 2000, // Year
int.Parse(words[2].Substring(2, 2), NmeaCultureInfo), // Month
int.Parse(words[2].Substring(0, 2), NmeaCultureInfo), // Day
int.Parse(words[3].Substring(0, 2), NmeaCultureInfo), // Hour
int.Parse(words[3].Substring(2, 2), NmeaCultureInfo), // Minute
int.Parse(words[3].Substring(4, 2), NmeaCultureInfo), // Second
DateTimeKind.Utc);
}
#region Position
// Can we parse the latitude and longitude?
if (wordCount >= 8 && words[5].Length != 0 && words[6].Length != 0 && words[7].Length != 0 && words[8].Length != 0)
{
#region Parse the latitude
string latitudeWord = words[5];
int latitudeHours = int.Parse(latitudeWord.Substring(0, 2), NmeaCultureInfo);
double latitudeDecimalMinutes = double.Parse(latitudeWord.Substring(2), NmeaCultureInfo);
LatitudeHemisphere latitudeHemisphere =
words[6].Equals("N", StringComparison.Ordinal) ? LatitudeHemisphere.North : LatitudeHemisphere.South;
#endregion Parse the latitude
#region Parse the longitude
string longitudeWord = words[7];
int longitudeHours = int.Parse(longitudeWord.Substring(0, 3), NmeaCultureInfo);
double longitudeDecimalMinutes = double.Parse(longitudeWord.Substring(3), NmeaCultureInfo);
LongitudeHemisphere longitudeHemisphere =
words[8].Equals("E", StringComparison.Ordinal) ? LongitudeHemisphere.East : LongitudeHemisphere.West;
#endregion Parse the longitude
#region Build a Position from the latitude and longitude
_position = new Position(
new Latitude(latitudeHours, latitudeDecimalMinutes, latitudeHemisphere),
new Longitude(longitudeHours, longitudeDecimalMinutes, longitudeHemisphere));
#endregion Build a Position from the latitude and longitude
}
else
{
_position = Position.Invalid;
}
#endregion Position
#region Fix Mode
if (wordCount >= 9 && words[9].Length != 0)
{
_fixMode = words[9] == "A" ? FixMode.Automatic : FixMode.Manual;
}
else
{
_fixMode = FixMode.Unknown;
}
#endregion Fix Mode
#region Fix Quality
// Do we have enough data for fix quality?
if (wordCount >= 10 && words[10].Length != 0)
{
switch (int.Parse(words[10], NmeaCultureInfo))
{
case 0:
_fixQuality = FixQuality.NoFix;
break;
case 1:
_fixQuality = FixQuality.GpsFix;
break;
case 2:
_fixQuality = FixQuality.DifferentialGpsFix;
break;
case 3:
_fixQuality = FixQuality.PulsePerSecond;
break;
case 4:
_fixQuality = FixQuality.FixedRealTimeKinematic;
break;
case 5:
_fixQuality = FixQuality.FloatRealTimeKinematic;
break;
case 6:
_fixQuality = FixQuality.Estimated;
break;
case 7:
_fixQuality = FixQuality.ManualInput;
break;
case 8:
_fixQuality = FixQuality.Simulated;
break;
default:
_fixQuality = FixQuality.Unknown;
break;
}
}
else
{
// This fix quality is invalid
_fixQuality = FixQuality.Unknown;
}
#endregion Fix Quality
#region Bearing
// Do we have enough data for fix quality?
if (wordCount >= 13 && words[12].Length != 0)
{
_bearing = new Azimuth(words[12], NmeaCultureInfo);
}
else
{
_bearing = Azimuth.Invalid;
}
#endregion Bearing
#region Speed
// Do we have enough data for fix quality?
if (wordCount >= 12 && words[11].Length != 0)
{
_speed = Speed.FromKilometersPerHour(double.Parse(words[11], NmeaCultureInfo));
}
else
{
_speed = Speed.Invalid;
}
#endregion Speed
#region Position Dilution of Precision
// Do we have enough data for fix quality?
if (wordCount >= 13 && words[13].Length != 0)
{
_positionDop = new DilutionOfPrecision(float.Parse(words[13], NmeaCultureInfo));
}
else
{
_positionDop = DilutionOfPrecision.Invalid;
}
#endregion Position Dilution of Precision
}
/// <summary>
/// Called when [sentence changed].
/// </summary>
protected override void OnSentenceChanged()
{
// Process the basic sentence elements
base.OnSentenceChanged();
// Cache the word array
string[] words = Words;
int wordCount = words.Length;
// Do we have enough words to parse the UTC date/time?
if (wordCount >= 2 && words[0].Length != 0 && words[1].Length != 0)
{
#region Parse the UTC time
string utcTimeWord = words[0];
int utcHours = int.Parse(utcTimeWord.Substring(0, 2), NmeaCultureInfo);
int utcMinutes = int.Parse(utcTimeWord.Substring(2, 2), NmeaCultureInfo);
int utcSeconds = int.Parse(utcTimeWord.Substring(4, 2), NmeaCultureInfo);
int utcMilliseconds = Convert.ToInt32(float.Parse(utcTimeWord.Substring(6), NmeaCultureInfo) * 1000, NmeaCultureInfo);
#endregion Parse the UTC time
#region Parse the UTC date
string utcDateWord = words[1];
int utcMonth = int.Parse(utcDateWord.Substring(0, 2), NmeaCultureInfo);
int utcDay = int.Parse(utcDateWord.Substring(2, 2), NmeaCultureInfo);
int utcYear = int.Parse(utcDateWord.Substring(4, 2), NmeaCultureInfo) + 2000;
#endregion Parse the UTC date
#region Build a UTC date/time
_utcDateTime = new DateTime(utcYear, utcMonth, utcDay, utcHours, utcMinutes, utcSeconds, utcMilliseconds, DateTimeKind.Utc);
#endregion Build a UTC date/time
}
else
{
// The UTC date/time is invalid
_utcDateTime = DateTime.MinValue;
}
// Do we have enough data to parse the location?
if (wordCount >= 6 && words[2].Length != 0 && words[3].Length != 0 && words[4].Length != 0 && words[5].Length != 0)
{
#region Parse the latitude
string latitudeWord = words[2];
int latitudeHours = int.Parse(latitudeWord.Substring(0, 2), NmeaCultureInfo);
double latitudeDecimalMinutes = double.Parse(latitudeWord.Substring(2), NmeaCultureInfo);
LatitudeHemisphere latitudeHemisphere =
words[3].Equals("N", StringComparison.OrdinalIgnoreCase) ? LatitudeHemisphere.North : LatitudeHemisphere.South;
#endregion Parse the latitude
#region Parse the longitude
string longitudeWord = words[4];
int longitudeHours = int.Parse(longitudeWord.Substring(0, 3), NmeaCultureInfo);
double longitudeDecimalMinutes = double.Parse(longitudeWord.Substring(3), NmeaCultureInfo);
LongitudeHemisphere longitudeHemisphere =
words[5].Equals("E", StringComparison.OrdinalIgnoreCase) ? LongitudeHemisphere.East : LongitudeHemisphere.West;
#endregion Parse the longitude
#region Build a Position from the latitude and longitude
_position = new Position(
new Latitude(latitudeHours, latitudeDecimalMinutes, latitudeHemisphere),
new Longitude(longitudeHours, longitudeDecimalMinutes, longitudeHemisphere));
#endregion Build a Position from the latitude and longitude
}
// Do we have enough data for the fix quality?
if (wordCount > 7 && words[7].Length != 0)
{
switch (Convert.ToInt32(words[7], NmeaCultureInfo))
{
case 0:
_fixQuality = FixQuality.NoFix;
break;
case 1:
_fixQuality = FixQuality.GpsFix;
break;
case 2:
_fixQuality = FixQuality.DifferentialGpsFix;
break;
case 3:
_fixQuality = FixQuality.PulsePerSecond;
break;
case 4:
_fixQuality = FixQuality.FixedRealTimeKinematic;
break;
case 5:
_fixQuality = FixQuality.FloatRealTimeKinematic;
break;
case 6:
_fixQuality = FixQuality.Estimated;
break;
case 7:
_fixQuality = FixQuality.ManualInput;
break;
case 8:
_fixQuality = FixQuality.Simulated;
break;
default:
_fixQuality = FixQuality.Unknown;
break;
}
}
else
{
// The fix quality is invalid
_fixQuality = FixQuality.Unknown;
}
// Process the fixed satellite count
//_fixedSatelliteCount = wordCount > 8 ? int.Parse(Words[8], NmeaCultureInfo) : 0;
// Process the mean DOP
if (wordCount > 9 && Words[9].Length != 0)
_meanDilutionOfPrecision = new DilutionOfPrecision(float.Parse(Words[9], NmeaCultureInfo));
else
_meanDilutionOfPrecision = DilutionOfPrecision.Maximum;
// Altitude above ellipsoid
if (wordCount > 10 && Words[10].Length != 0)
_altitudeAboveEllipsoid = new Distance(double.Parse(Words[10], NmeaCultureInfo), DistanceUnit.Meters).ToLocalUnitType();
else
_altitudeAboveEllipsoid = Distance.Empty;
}
void UpdateData(object sender, System.EventArgs args)
{
try
{
if (gps.Opened)
{
string str = "";
if (device != null)
{
str = "Name: '" + device.FriendlyName + "' Svc: '" + device.ServiceState + "', Dvc: '" + device.DeviceState + "'\r\n";
}
else
{
str = "Name: '' Svc:''\r\n";
}
if (position != null)
{
//if all valid
if ((((((this.position.LatitudeValid && this.position.LongitudeValid) && this.position.SatellitesInSolutionValid) && this.position.SatellitesInViewValid) && this.position.SatelliteCountValid) && this.position.TimeValid) && (this.position.SatelliteCount > 2))
{
m_FixValid = true;
if (m_XMLLogging)
{
this.position2XMLFile(this.position);
}
}
else
{
m_FixValid = false;
}
//Latitude
if (position.LatitudeValid)
{
str += "Lat: " + position.Latitude.ToString("00.000") + " ";
//str += "Lat (D,M,S): " + position.LatitudeInDegreesMinutesSeconds + "\r\n";
}
else
{
str += "Lat: --.--- ";
}
//Longitude
if (position.LongitudeValid)
{
str += "Lon: " + position.Longitude.ToString("00.000") + "\r\n";
//str += "Lon (D,M,S): " + position.LongitudeInDegreesMinutesSeconds + "\r\n";
}
else
{
str += "Lon: --.---\r\n";
}
//sat in view and in solution
if (position.SatellitesInSolutionValid &&
position.SatellitesInViewValid &&
position.SatelliteCountValid)
{
str += "Sat. Count: " + position.GetSatellitesInSolution().Length + "/" +
position.GetSatellitesInView().Length + " (" +
position.SatelliteCount + ")\r\n";
}
//list sats in solution
if (position.SatellitesInSolutionValid)
{
satSol = position.GetSatellitesInSolution();
}
//list sats in view and there signal
if (position.SatellitesInViewValid)
{
/* Satellite[] */
sats = position.GetSatellitesInView();
str += "SV:";
foreach (Satellite sat in sats)
{
str += sat.Id.ToString("00") + " ";
}
str += "\r\nSN:";
foreach (Satellite sat in sats)
{
str += sat.SignalStrength.ToString("00") + " ";
}
str += "\r\n";
panel1.Invalidate();
}
else
{
//panel1.Invalidate();
}
//time
if (position.TimeValid)
{
str += "Time: " + position.Time.ToString() + "\r\n";
if (m_FixValid)
{
SetTimeToGPS(position.Time);
}
}
//fixtype
FixType fx = position.eFixType;
switch (fx)
{
case FixType.Unknown: str += "FixType: Unknown\r\n";
break;
case FixType.XyD: str += "FixType: 2D\r\n";
break;
case FixType.XyzD: str += "FixType: 3D\r\n";
break;
}
//fix quality
FixQuality fq = position.eFixQuality;
switch (fq)
{
case FixQuality.Unknown: str += "FixQuality: Unknown\r\n";
break;
case FixQuality.Gps: str += "FixQuality: GPS\r\n";
break;
case FixQuality.DGps: str += "FixQuality: DGPS\r\n";
break;
}
}
panel1.Invalidate();
status.Text = str;
}
}
catch (NullReferenceException)
{
}
}
/// <summary>
/// Creates a new instance with the specified fix quality measurement.
/// </summary>
/// <param name="fixQuality">A value from the <strong>FixQuality</strong> enumeration.</param>
/// <remarks></remarks>
public FixQualityEventArgs(FixQuality fixQuality)
{
_FixQuality = fixQuality;
}
protected override void OnSentenceChanged()
{
// Parse the basic sentence information
base.OnSentenceChanged();
// Cache the words
string[] words = base.Words;
int wordCount = words.Length;
// Do we have enough data to process the UTC time?
if (wordCount >= 1 && words[0].Length != 0)
{
#region UTC Time
string utcTimeWord = words[0];
int utcHours = int.Parse(utcTimeWord.Substring(0, 2), NmeaCultureInfo);
int utcMinutes = int.Parse(utcTimeWord.Substring(2, 2), NmeaCultureInfo);
int utcSeconds = int.Parse(utcTimeWord.Substring(4, 2), NmeaCultureInfo);
int utcMilliseconds = 0;
if(utcTimeWord.Length > 6)
utcMilliseconds = Convert.ToInt32(float.Parse(utcTimeWord.Substring(6), NmeaCultureInfo) * 1000, NmeaCultureInfo);
// Build a TimeSpan for this value
_UtcTime = new TimeSpan(0, utcHours, utcMinutes, utcSeconds, utcMilliseconds);
#endregion
}
else
{
// The UTC time is invalid
_UtcTime = TimeSpan.MinValue;
}
// Do we have enough data for locations?
if (wordCount >= 5 && words[1].Length != 0 && words[2].Length != 0 && words[3].Length != 0 && words[4].Length != 0)
{
#region Latitude
string latitudeWord = words[1];
int latitudeHours = int.Parse(latitudeWord.Substring(0, 2), NmeaCultureInfo);
double latitudeDecimalMinutes = double.Parse(latitudeWord.Substring(2), NmeaCultureInfo);
LatitudeHemisphere latitudeHemisphere =
words[2].Equals("N", StringComparison.OrdinalIgnoreCase) ? LatitudeHemisphere.North : LatitudeHemisphere.South;
#endregion
#region Longitude
string longitudeWord = words[3];
int longitudeHours = int.Parse(longitudeWord.Substring(0, 3), NmeaCultureInfo);
double longitudeDecimalMinutes = double.Parse(longitudeWord.Substring(3), NmeaCultureInfo);
LongitudeHemisphere longitudeHemisphere =
words[4].Equals("E", StringComparison.OrdinalIgnoreCase) ? LongitudeHemisphere.East : LongitudeHemisphere.West;
#endregion
#region Position
_Position = new Position(
new Latitude(latitudeHours, latitudeDecimalMinutes, latitudeHemisphere),
new Longitude(longitudeHours, longitudeDecimalMinutes, longitudeHemisphere));
#endregion
}
else
{
_Position = Position.Invalid;
}
// Do we have enough data for fix quality?
if (wordCount >= 6 && words[5].Length != 0)
{
#region Fix Quality
switch (int.Parse(words[5], NmeaCultureInfo))
{
case 0:
_FixQuality = FixQuality.NoFix;
break;
case 1:
_FixQuality = FixQuality.GpsFix;
break;
case 2:
_FixQuality = FixQuality.DifferentialGpsFix;
break;
case 3:
_FixQuality = FixQuality.PulsePerSecond;
break;
case 4:
_FixQuality = FixQuality.FixedRealTimeKinematic;
break;
case 5:
_FixQuality = FixQuality.FloatRealTimeKinematic;
break;
case 6:
_FixQuality = FixQuality.Estimated;
break;
case 7:
_FixQuality = FixQuality.ManualInput;
break;
case 8:
_FixQuality = FixQuality.Simulated;
break;
default:
_FixQuality = FixQuality.Unknown;
break;
}
#endregion
}
else
{
// This fix quality is invalid
_FixQuality = FixQuality.Unknown;
}
// Number of satellites in view is skipped. We'll work off of GPGSV data.
if (wordCount >= 7 && words[6].Length != 0)
{
_FixedSatelliteCount = int.Parse(words[6], NmeaCultureInfo);
}
// Is there enough information to process horizontal dilution of precision?
if (wordCount >= 8 && words[7].Length != 0)
{
#region Horizontal Dilution of Precision
_HorizontalDilutionOfPrecision =
new DilutionOfPrecision(float.Parse(words[7], NmeaCultureInfo));
#endregion
}
else
{
// The HDOP is invalid
_HorizontalDilutionOfPrecision = DilutionOfPrecision.Invalid;
}
// Is there enough information to process altitude?
if (wordCount >= 9 && words[8].Length != 0)
{
#region Altitude
// Altitude is the 8th NMEA word
_Altitude = new Distance(float.Parse(words[8], NmeaCultureInfo), DistanceUnit.Meters);
#endregion
}
else
{
// The altitude is invalid
_Altitude = Distance.Invalid;
}
// Is there enough information to process geoidal separation?
if (wordCount >= 11 && words[10].Length != 0)
{
#region Geoidal Separation
// Parse the geoidal separation
_GeoidalSeparation = new Distance(float.Parse(words[10], NmeaCultureInfo), DistanceUnit.Meters);
#endregion
}
else
{
// The geoidal separation is invalid
_GeoidalSeparation = Distance.Invalid;
}
// Is there enough info to process Differential GPS info?
if (wordCount >= 14 && words[12].Length != 0 && words[13].Length != 0)
{
#region Differential GPS information
if (words[12].Length != 0)
_DifferentialGpsAge = TimeSpan.FromSeconds(float.Parse(words[12], NmeaCultureInfo));
else
_DifferentialGpsAge = TimeSpan.MinValue;
if (words[13].Length != 0)
_DifferentialGpsStationID = int.Parse(words[13], NmeaCultureInfo);
else
_DifferentialGpsStationID = -1;
#endregion
}
else
{
_DifferentialGpsStationID = -1;
_DifferentialGpsAge = TimeSpan.MinValue;
}
}
public GpggaSentence(TimeSpan utcTime, Position position, FixQuality fixQuality, int trackedSatelliteCount,
DilutionOfPrecision horizontalDilutionOfPrecision, Distance altitude, Distance geoidalSeparation,
TimeSpan differentialGpsAge, int differentialGpsStationID)
{
// Use a string builder to create the sentence text
StringBuilder builder = new StringBuilder(128);
#region Append the command word
// Append the command word
builder.Append("$GPGGA");
#endregion
// Append a comma
builder.Append(',');
#region Append the UTC time
/* Convert UTC time to a string in the form HHMMSS.SSSS. Any value less than 10 will be
* padded with a zero.
*/
builder.Append(_UtcTime.Hours.ToString("0#", NmeaCultureInfo));
builder.Append(_UtcTime.Minutes.ToString("0#", NmeaCultureInfo));
builder.Append(_UtcTime.Seconds.ToString("0#", NmeaCultureInfo));
builder.Append(".");
builder.Append(_UtcTime.Milliseconds.ToString("00#", NmeaCultureInfo));
#endregion
// Append a comma
builder.Append(',');
#region Append the position
// Append latitude in the format HHMM.MMMM.
builder.Append(position.Latitude.ToString("HHMM.MMMM,I,", NmeaCultureInfo));
// Append Longitude in the format HHHMM.MMMM.
builder.Append(position.Longitude.ToString("HHHMM.MMMM,I,", NmeaCultureInfo));
#endregion
#region Append fix quality
switch (fixQuality)
{
case FixQuality.NoFix:
builder.Append("0");
break;
case FixQuality.GpsFix:
builder.Append("1");
break;
case FixQuality.DifferentialGpsFix:
builder.Append("2");
break;
case FixQuality.PulsePerSecond:
builder.Append("3");
break;
case FixQuality.FixedRealTimeKinematic:
builder.Append("4");
break;
case FixQuality.FloatRealTimeKinematic:
builder.Append("5");
break;
case FixQuality.Estimated:
builder.Append("6");
break;
case FixQuality.ManualInput:
builder.Append("7");
break;
case FixQuality.Simulated:
builder.Append("8");
break;
}
#endregion
// Append a comma
builder.Append(",");
// Append the tracked (signal strength is > 0) satellite count
builder.Append(trackedSatelliteCount.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",");
// Append the numerical value of HDOP
builder.Append(horizontalDilutionOfPrecision.Value.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",");
#region Altitude above sea level
// Append the numerical value in meters
builder.Append(altitude.ToMeters().Value.ToString(NmeaCultureInfo));
// Append a comma, the unit (M = meters), and another comma
builder.Append(",M,");
#endregion
#region Geoidal separation
// Append the numerical value in meters
builder.Append(geoidalSeparation.ToMeters().Value.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",M,");
#endregion
#region Differential GPS information
// Differnetial signal age in seconds
if (!differentialGpsAge.Equals(TimeSpan.MinValue))
builder.Append(differentialGpsAge.TotalSeconds.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",");
// Station ID
if (differentialGpsStationID != -1)
builder.Append(differentialGpsStationID.ToString(NmeaCultureInfo));
#endregion
// Set this object's sentence
SetSentence(builder.ToString());
// Finally, append the checksum
AppendChecksum();
}
/// <summary>
/// OnSentanceChanged event handler
/// </summary>
protected override void OnSentenceChanged()
{
base.OnSentenceChanged();
// Cache the sentence words
string[] words = Words;
int wordCount = words.Length;
/*
* Garmin produces several embedded GPS systems. They are easy to setup because Garmin provides a nice utility for uploading configuration data to the GPS. You first load the utility to a PC. Connect the PC to the GPS through one of the serial ports. The utility will check each baud rate until it communicates with the GPS.
*
* The common configuration parameters are output sentences from the GPS unit, the communication baud rate with a host, and the required pulse per second.
*
* Each sentence is preceded with a ‘$’ symbol and ends with a line-feed character. At one sentence per second, the following is out put in four seconds:
*
* $PGRMF, 223, 424798, 041203, 215945, 13, 0000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*3B
* $PGRMF, 223, 424799, 041203, 215946, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*39
* $PGRMF, 223, 424800, 041203, 215947, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*34
* $PGRMF, 223, 424801, 041203, 215948, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*35
*
* The sentence is proprietary to the Garmin GPS Global Positioning System and is translated below.
*
* $PGRMF
* <1>GPS Week Number(0-1023)
* <2>GPS Seconds (0 - 604799)
* <3>UTC Date of position fix, ddmmyy format
* <4>UTC time of position fix, hhmmss format
* <5>GPS leap second count
* <6>Latitude, ddmm.mmmm format (leading zeros transmitted)
* <7>Latitude hemisphere N or S
* <8>Longitude, ddmm.mmmm format (leading zeros transmitted)
* <9>Longitude hemisphere N or S
* <10>Mode M = Manual, A automatic
* <11>Fix type 0 = No Fix, 1 = 2D Fix, 2 = 3D fix
* <12>Speed over ground, 0 to 359 degrees true
* <13>Course over ground, 0 to 9 (rounded to nearest intvalue)
* <14>Time dilution of precision, 0 to 9 (rnded nearest int val)
* <15>Time dilution of precision, 0 to 9 (rnded nearest int val)
* hh <CR><LF>
*/
// TODO: Convert GPS week number/seconds to UTC date/time
// Do we have enough words to parse the fix status?
if (wordCount >= 4 && words[2].Length != 0 && words[3].Length != 0)
{
// Build a UTC date/time object.
_utcDateTime = new DateTime(
int.Parse(words[2].Substring(4, 2), NmeaCultureInfo) + 2000, // Year
int.Parse(words[2].Substring(2, 2), NmeaCultureInfo), // Month
int.Parse(words[2].Substring(0, 2), NmeaCultureInfo), // Day
int.Parse(words[3].Substring(0, 2), NmeaCultureInfo), // Hour
int.Parse(words[3].Substring(2, 2), NmeaCultureInfo), // Minute
int.Parse(words[3].Substring(4, 2), NmeaCultureInfo), // Second
DateTimeKind.Utc);
}
#region Position
// Can we parse the latitude and longitude?
if (wordCount >= 8 && words[5].Length != 0 && words[6].Length != 0 && words[7].Length != 0 && words[8].Length != 0)
{
#region Parse the latitude
string latitudeWord = words[5];
int latitudeHours = int.Parse(latitudeWord.Substring(0, 2), NmeaCultureInfo);
double latitudeDecimalMinutes = double.Parse(latitudeWord.Substring(2), NmeaCultureInfo);
LatitudeHemisphere latitudeHemisphere =
words[6].Equals("N", StringComparison.Ordinal) ? LatitudeHemisphere.North : LatitudeHemisphere.South;
#endregion Parse the latitude
#region Parse the longitude
string longitudeWord = words[7];
int longitudeHours = int.Parse(longitudeWord.Substring(0, 3), NmeaCultureInfo);
double longitudeDecimalMinutes = double.Parse(longitudeWord.Substring(3), NmeaCultureInfo);
LongitudeHemisphere longitudeHemisphere =
words[8].Equals("E", StringComparison.Ordinal) ? LongitudeHemisphere.East : LongitudeHemisphere.West;
#endregion Parse the longitude
#region Build a Position from the latitude and longitude
_position = new Position(
new Latitude(latitudeHours, latitudeDecimalMinutes, latitudeHemisphere),
new Longitude(longitudeHours, longitudeDecimalMinutes, longitudeHemisphere));
#endregion Build a Position from the latitude and longitude
}
else
{
_position = Position.Invalid;
}
#endregion Position
#region Fix Mode
if (wordCount >= 9 && words[9].Length != 0)
{
_fixMode = words[9] == "A" ? FixMode.Automatic : FixMode.Manual;
}
else
{
_fixMode = FixMode.Unknown;
}
#endregion Fix Mode
#region Fix Quality
// Do we have enough data for fix quality?
if (wordCount >= 10 && words[10].Length != 0)
{
switch (int.Parse(words[10], NmeaCultureInfo))
{
case 0:
_fixQuality = FixQuality.NoFix;
break;
case 1:
_fixQuality = FixQuality.GpsFix;
break;
case 2:
_fixQuality = FixQuality.DifferentialGpsFix;
break;
case 3:
_fixQuality = FixQuality.PulsePerSecond;
break;
case 4:
_fixQuality = FixQuality.FixedRealTimeKinematic;
break;
case 5:
_fixQuality = FixQuality.FloatRealTimeKinematic;
break;
case 6:
_fixQuality = FixQuality.Estimated;
break;
case 7:
_fixQuality = FixQuality.ManualInput;
break;
case 8:
_fixQuality = FixQuality.Simulated;
break;
default:
_fixQuality = FixQuality.Unknown;
break;
}
}
else
{
// This fix quality is invalid
_fixQuality = FixQuality.Unknown;
}
#endregion Fix Quality
#region Bearing
// Do we have enough data for fix quality?
if (wordCount >= 13 && words[12].Length != 0)
{
_bearing = new Azimuth(words[12], NmeaCultureInfo);
}
else
{
_bearing = Azimuth.Invalid;
}
#endregion Bearing
#region Speed
// Do we have enough data for fix quality?
if (wordCount >= 12 && words[11].Length != 0)
{
_speed = Speed.FromKilometersPerHour(double.Parse(words[11], NmeaCultureInfo));
}
else
{
_speed = Speed.Invalid;
}
#endregion Speed
#region Position Dilution of Precision
// Do we have enough data for fix quality?
if (wordCount >= 13 && words[13].Length != 0)
{
_positionDop = new DilutionOfPrecision(float.Parse(words[13], NmeaCultureInfo));
}
else
{
_positionDop = DilutionOfPrecision.Invalid;
}
#endregion Position Dilution of Precision
}
public static byte[] GetBytes(DateTimeOffset timestamp, float latitude, float longitude, float speed, float heading, TypeOfFix fix, FixQuality quality, string vehicleRef, string driverRef, string taskRef, string accountRef, UInt64?unitId, UInt16?sequenceNumber, Signal powerOn, Signal doorReleased, Signal stopRequested, Signal inService)
{
var outputStream = new MemoryStream();
using (var writer = new BinaryWriter(outputStream))
{
// Message type, always 2 for Hogia Extended Position Message.
writer.Write((byte)0x02);
// Message priority, default 127. Note that priority is not supported, its for future use.
writer.Write((byte)127);
// Device id that is globally unique, e.g. MAC adress. If not provided (=0), a a vehicleRef must be provided.
writer.Write((UInt64)(unitId ?? 0UL));
// Sequence number of message. Shall be reset to zero at device start.
writer.Write((UInt16)(sequenceNumber ?? 0));
// Timestamp is in milliseconds from midnight
writer.Write((UInt32)((timestamp.UtcDateTime - timestamp.UtcDateTime.Date).TotalMilliseconds));
// Latitude and longitude is in IEEE single precision floating number. A 0,0 position is always regarded as invalid.
writer.Write(latitude);
writer.Write(longitude);
// Speed is in meters per second times 100.
writer.Write((UInt16)(speed * 100.0f));
// Heading is in degrees 0 <= value < 360 times 100.
writer.Write((UInt16)((heading * 100.0f) % 36000));
// Fix type and quality is combined into one byte
writer.Write((byte)(fix + (int)quality * 16));
// The four signals is compined into one byte
writer.Write((byte)((int)powerOn + (int)doorReleased * 4 + (int)stopRequested * 16 + (int)inService * 64));
// Distance is a special feature that normally is not sent from vehicles, so write an zero value.
writer.Write((UInt32)0);
// The id of the vehicle, unique within a customers context, i.e. TransitCloud account. This field must be provided if unit id is not provided. It can also be provided when a unit id is provided.
writer.WriteString(vehicleRef);
// The current id of the driver. Optional.
writer.WriteString(driverRef);
// The task id that the vehicle is currently working. See the documentation for how to populate this field. If empty, it is assumed that the vehicle is not working any task.
writer.WriteString(taskRef);
// Account id is normally not used. Optional.
writer.WriteString(accountRef);
}
return(outputStream.ToArray());
}
/// <summary>
/// Called when [sentence changed].
/// </summary>
/// <remarks></remarks>
protected override void OnSentenceChanged()
{
// Process the basic sentence elements
base.OnSentenceChanged();
// Cache the word array
string[] words = Words;
int wordCount = words.Length;
// Do we have enough words to parse the UTC date/time?
if (wordCount >= 2 && words[0].Length != 0 && words[1].Length != 0)
{
#region Parse the UTC time
string utcTimeWord = words[0];
int utcHours = 0;
int utcMinutes = 0;
int utcSeconds = 0;
int utcMilliseconds = 0;
int.TryParse(utcTimeWord.Substring(0, 2), out utcHours);
int.TryParse(utcTimeWord.Substring(2, 2), out utcMinutes);
int.TryParse(utcTimeWord.Substring(4, 2), out utcSeconds);
try
{
utcMilliseconds = Convert.ToInt32(float.Parse(utcTimeWord.Substring(6), NmeaCultureInfo) * 1000, NmeaCultureInfo);
}
catch (Exception) { }
#endregion Parse the UTC time
#region Parse the UTC date
string utcDateWord = words[1];
int utcMonth = 0;
int utcDay = 0;
int utcYear = 0;
int.TryParse(utcDateWord.Substring(0, 2), out utcMonth);
int.TryParse(utcDateWord.Substring(2, 2), out utcDay);
int.TryParse(utcDateWord.Substring(4, 2), out utcYear);
utcYear += 2000;
#endregion Parse the UTC date
#region Build a UTC date/time
_utcDateTime = new DateTime(utcYear, utcMonth, utcDay, utcHours, utcMinutes, utcSeconds, utcMilliseconds, DateTimeKind.Utc);
#endregion Build a UTC date/time
}
else
{
// The UTC date/time is invalid
_utcDateTime = DateTime.MinValue;
}
// Do we have enough data to parse the location?
if (wordCount >= 6 && words[2].Length != 0 && words[3].Length != 0 && words[4].Length != 0 && words[5].Length != 0)
{
#region Parse the latitude
string latitudeWord = words[2];
int latitudeHours = 0;
double latitudeDecimalMinutes = 0.0;
int.TryParse(latitudeWord.Substring(0, 2), out latitudeHours);
double.TryParse(latitudeWord.Substring(2), out latitudeDecimalMinutes);
LatitudeHemisphere latitudeHemisphere =
words[3].Equals("N", StringComparison.OrdinalIgnoreCase) ? LatitudeHemisphere.North : LatitudeHemisphere.South;
#endregion Parse the latitude
#region Parse the longitude
string longitudeWord = words[4];
int longitudeHours = 0;
double longitudeDecimalMinutes = 0.0;
int.TryParse(longitudeWord.Substring(0, 3), out longitudeHours);
double.TryParse(longitudeWord.Substring(3), out longitudeDecimalMinutes);
LongitudeHemisphere longitudeHemisphere =
words[5].Equals("E", StringComparison.OrdinalIgnoreCase) ? LongitudeHemisphere.East : LongitudeHemisphere.West;
#endregion Parse the longitude
#region Build a Position from the latitude and longitude
_position = new Position(
new Latitude(latitudeHours, latitudeDecimalMinutes, latitudeHemisphere),
new Longitude(longitudeHours, longitudeDecimalMinutes, longitudeHemisphere));
#endregion Build a Position from the latitude and longitude
}
// Do we have enough data for the fix quality?
if (wordCount > 7 && words[7].Length != 0)
{
switch (Convert.ToInt32(words[7], NmeaCultureInfo))
{
case 0:
_fixQuality = FixQuality.NoFix;
break;
case 1:
_fixQuality = FixQuality.GpsFix;
break;
case 2:
_fixQuality = FixQuality.DifferentialGpsFix;
break;
case 3:
_fixQuality = FixQuality.PulsePerSecond;
break;
case 4:
_fixQuality = FixQuality.FixedRealTimeKinematic;
break;
case 5:
_fixQuality = FixQuality.FloatRealTimeKinematic;
break;
case 6:
_fixQuality = FixQuality.Estimated;
break;
case 7:
_fixQuality = FixQuality.ManualInput;
break;
case 8:
_fixQuality = FixQuality.Simulated;
break;
default:
_fixQuality = FixQuality.Unknown;
break;
}
}
else
{
// The fix quality is invalid
_fixQuality = FixQuality.Unknown;
}
// Process the fixed satellite count
//_fixedSatelliteCount = wordCount > 8 ? int.Parse(Words[8], NmeaCultureInfo) : 0;
// Process the mean DOP
if (wordCount > 9 && Words[9].Length != 0)
{
try
{
_meanDilutionOfPrecision = new DilutionOfPrecision(float.Parse(Words[9], NmeaCultureInfo));
}
catch (Exception)
{
_meanDilutionOfPrecision = DilutionOfPrecision.Maximum;
}
}
else
{
_meanDilutionOfPrecision = DilutionOfPrecision.Maximum;
}
// Altitude above ellipsoid
if (wordCount > 10 && Words[10].Length != 0)
{
try
{
_altitudeAboveEllipsoid = new Distance(double.Parse(Words[10], NmeaCultureInfo), DistanceUnit.Meters).ToLocalUnitType();
}
catch (Exception)
{
_altitudeAboveEllipsoid = Distance.Empty;
}
}
else
{
_altitudeAboveEllipsoid = Distance.Empty;
}
}
internal SateliteInfo(int activeSatelites, FixQuality fixQuality)
{
m_activeSatelites = activeSatelites;
m_fixQuality = fixQuality;
}
/// <summary>
/// Updates the fix quality to the specified value.
/// </summary>
/// <param name="value">The value.</param>
protected virtual void SetFixQuality(FixQuality value)
{
// If the new value is the same or it's invalid, ignore it
if (value == _fixQuality || value == FixQuality.Unknown)
return;
// Set the new value
_fixQuality = value;
// And notify
if (FixQualityChanged != null)
FixQualityChanged(this, new FixQualityEventArgs(_fixQuality));
}
/// <summary>
/// Creates a new sentence
/// </summary>
/// <param name="utcTime">The UTC time.</param>
/// <param name="position">The position.</param>
/// <param name="fixQuality">The fix quality.</param>
/// <param name="trackedSatelliteCount">The tracked satellite count.</param>
/// <param name="horizontalDilutionOfPrecision">The horizontal dilution of precision.</param>
/// <param name="altitude">The altitude.</param>
/// <param name="geoidalSeparation">The geoidal separation.</param>
/// <param name="differentialGpsAge">The differential GPS age.</param>
/// <param name="differentialGpsStationID">The differential GPS station ID.</param>
/// <remarks></remarks>
public GpggaSentence(TimeSpan utcTime, Position position, FixQuality fixQuality, int trackedSatelliteCount,
DilutionOfPrecision horizontalDilutionOfPrecision, Distance altitude, Distance geoidalSeparation,
TimeSpan differentialGpsAge, int differentialGpsStationID)
{
// Use a string builder to create the sentence text
StringBuilder builder = new StringBuilder(128);
#region Append the command word
// Append the command word
builder.Append("$GPGGA");
#endregion Append the command word
// Append a comma
builder.Append(',');
#region Append the UTC time
/* Convert UTC time to a string in the form HHMMSS.SSSS. Any value less than 10 will be
* padded with a zero.
*/
builder.Append(utcTime.Hours.ToString("0#", NmeaCultureInfo));
builder.Append(utcTime.Minutes.ToString("0#", NmeaCultureInfo));
builder.Append(utcTime.Seconds.ToString("0#", NmeaCultureInfo));
builder.Append(".");
builder.Append(utcTime.Milliseconds.ToString("00#", NmeaCultureInfo));
#endregion Append the UTC time
// Append a comma
builder.Append(',');
#region Append the position
// Append latitude in the format HHMM.MMMM.
builder.Append(position.Latitude.ToString("HHMM.MMMM, I,", NmeaCultureInfo));
// Append Longitude in the format HHHMM.MMMM.
builder.Append(position.Longitude.ToString("HHHMM.MMMM, I,", NmeaCultureInfo));
#endregion Append the position
#region Append fix quality
switch (fixQuality)
{
case FixQuality.NoFix:
builder.Append("0");
break;
case FixQuality.GpsFix:
builder.Append("1");
break;
case FixQuality.DifferentialGpsFix:
builder.Append("2");
break;
case FixQuality.PulsePerSecond:
builder.Append("3");
break;
case FixQuality.FixedRealTimeKinematic:
builder.Append("4");
break;
case FixQuality.FloatRealTimeKinematic:
builder.Append("5");
break;
case FixQuality.Estimated:
builder.Append("6");
break;
case FixQuality.ManualInput:
builder.Append("7");
break;
case FixQuality.Simulated:
builder.Append("8");
break;
}
#endregion Append fix quality
// Append a comma
builder.Append(",");
// Append the tracked (signal strength is > 0) satellite count
builder.Append(trackedSatelliteCount.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",");
// Append the numerical value of HDOP
builder.Append(horizontalDilutionOfPrecision.Value.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",");
#region Altitude above sea level
// Append the numerical value in meters
builder.Append(altitude.ToMeters().Value.ToString(NmeaCultureInfo));
// Append a comma, the unit (M = meters), and another comma
builder.Append(", M,");
#endregion Altitude above sea level
#region Geoidal separation
// Append the numerical value in meters
builder.Append(geoidalSeparation.ToMeters().Value.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(", M,");
#endregion Geoidal separation
#region Differential GPS information
// Differnetial signal age in seconds
if (!differentialGpsAge.Equals(TimeSpan.MinValue))
{
builder.Append(differentialGpsAge.TotalSeconds.ToString(NmeaCultureInfo));
}
// Append a comma
builder.Append(",");
// Station ID
if (differentialGpsStationID != -1)
{
builder.Append(differentialGpsStationID.ToString(NmeaCultureInfo));
}
#endregion Differential GPS information
// Set this object's sentence
SetSentence(builder.ToString());
// Finally, append the checksum
AppendChecksum();
}
/// <summary>
/// Called when [sentence changed].
/// </summary>
/// <remarks></remarks>
protected override void OnSentenceChanged()
{
// Parse the basic sentence information
base.OnSentenceChanged();
// Cache the words
string[] words = Words;
int wordCount = words.Length;
// Do we have enough data to process the UTC time?
if (wordCount >= 1 && words[0].Length != 0)
{
#region UTC Time
string utcTimeWord = words[0];
int utcHours = 0;
int utcMinutes = 0;
int utcSeconds = 0;
int utcMilliseconds = 0;
if (utcTimeWord.Length >= 6)
{
int.TryParse(utcTimeWord.Substring(0, 2), out utcHours);
int.TryParse(utcTimeWord.Substring(2, 2), out utcMinutes);
int.TryParse(utcTimeWord.Substring(4, 2), out utcSeconds);
}
if (utcTimeWord.Length > 6)
{
try
{
utcMilliseconds = Convert.ToInt32(float.Parse(utcTimeWord.Substring(6), NmeaCultureInfo) * 1000, NmeaCultureInfo);
}
catch (Exception) { }
}
// Build a TimeSpan for this value
_utcTime = new TimeSpan(0, utcHours, utcMinutes, utcSeconds, utcMilliseconds);
#endregion UTC Time
}
else
{
// The UTC time is invalid
_utcTime = TimeSpan.MinValue;
}
// Do we have enough data for locations?
if (wordCount >= 5 && words[1].Length != 0 && words[2].Length != 0 && words[3].Length != 0 && words[4].Length != 0)
{
#region Latitude
string latitudeWord = words[1];
int latitudeHours = 0;
double latitudeDecimalMinutes = 0.0;
if (latitudeWord.Length > 3)
{
int.TryParse(latitudeWord.Substring(0, 2), out latitudeHours);
double.TryParse(latitudeWord.Substring(2), out latitudeDecimalMinutes);
}
LatitudeHemisphere latitudeHemisphere =
words[2].Equals("N", StringComparison.OrdinalIgnoreCase) ? LatitudeHemisphere.North : LatitudeHemisphere.South;
#endregion Latitude
#region Longitude
string longitudeWord = words[3];
int longitudeHours = 0;
double longitudeDecimalMinutes = 0.0;
if (longitudeWord.Length > 4)
{
int.TryParse(longitudeWord.Substring(0, 3), out longitudeHours);
double.TryParse(longitudeWord.Substring(3), out longitudeDecimalMinutes);
}
LongitudeHemisphere longitudeHemisphere =
words[4].Equals("E", StringComparison.OrdinalIgnoreCase) ? LongitudeHemisphere.East : LongitudeHemisphere.West;
#endregion Longitude
#region Position
_position = new Position(
new Latitude(latitudeHours, latitudeDecimalMinutes, latitudeHemisphere),
new Longitude(longitudeHours, longitudeDecimalMinutes, longitudeHemisphere));
#endregion Position
}
else
{
_position = Position.Invalid;
}
// Do we have enough data for fix quality?
if (wordCount >= 6 && words[5].Length != 0)
{
#region Fix Quality
int fixQual = -1;
int.TryParse(words[5], out fixQual);
switch (fixQual)
{
case 0:
_fixQuality = FixQuality.NoFix;
break;
case 1:
_fixQuality = FixQuality.GpsFix;
break;
case 2:
_fixQuality = FixQuality.DifferentialGpsFix;
break;
case 3:
_fixQuality = FixQuality.PulsePerSecond;
break;
case 4:
_fixQuality = FixQuality.FixedRealTimeKinematic;
break;
case 5:
_fixQuality = FixQuality.FloatRealTimeKinematic;
break;
case 6:
_fixQuality = FixQuality.Estimated;
break;
case 7:
_fixQuality = FixQuality.ManualInput;
break;
case 8:
_fixQuality = FixQuality.Simulated;
break;
default:
_fixQuality = FixQuality.Unknown;
break;
}
#endregion Fix Quality
}
else
{
// This fix quality is invalid
_fixQuality = FixQuality.Unknown;
}
// Number of satellites in view is skipped. We'll work off of GPGSV data.
if (wordCount >= 7 && words[6].Length != 0)
{
int.TryParse(words[6], out _fixedSatelliteCount);
}
// Is there enough information to process horizontal dilution of precision?
if (wordCount >= 8 && words[7].Length != 0)
{
#region Horizontal Dilution of Precision
try
{
_horizontalDilutionOfPrecision =
new DilutionOfPrecision(float.Parse(words[7], NmeaCultureInfo));
}
catch (Exception)
{
_horizontalDilutionOfPrecision = DilutionOfPrecision.Invalid;
}
#endregion Horizontal Dilution of Precision
}
else
{
// The HDOP is invalid
_horizontalDilutionOfPrecision = DilutionOfPrecision.Invalid;
}
// Is there enough information to process altitude?
if (wordCount >= 9 && words[8].Length != 0)
{
#region Altitude
try
{
// Altitude is the 8th NMEA word
_altitude = new Distance(float.Parse(words[8], NmeaCultureInfo), DistanceUnit.Meters);
}
catch (Exception)
{
_altitude = Distance.Invalid;
}
#endregion Altitude
}
else
{
// The altitude is invalid
_altitude = Distance.Invalid;
}
// Is there enough information to process geoidal separation?
if (wordCount >= 11 && words[10].Length != 0)
{
#region Geoidal Separation
try
{
// Parse the geoidal separation
_geoidalSeparation = new Distance(float.Parse(words[10], NmeaCultureInfo), DistanceUnit.Meters);
}
catch (Exception)
{
_geoidalSeparation = Distance.Invalid;
}
#endregion Geoidal Separation
}
else
{
// The geoidal separation is invalid
_geoidalSeparation = Distance.Invalid;
}
// Is there enough info to process Differential GPS info?
if (wordCount >= 14 && words[12].Length != 0 && words[13].Length != 0)
{
#region Differential GPS information
try
{
_differentialGpsAge = words[12].Length != 0 ? TimeSpan.FromSeconds(float.Parse(words[12], NmeaCultureInfo)) : TimeSpan.MinValue;
}
catch (Exception) { }
if (words[13].Length != 0)
{
if (!int.TryParse(words[13], out _differentialGpsStationID))
{
_differentialGpsStationID = -1;
}
}
else
{
_differentialGpsStationID = -1;
}
#endregion Differential GPS information
}
else
{
_differentialGpsStationID = -1;
_differentialGpsAge = TimeSpan.MinValue;
}
}
