private static void Device_MessageReceived(object sender, NmeaParser.NmeaMessageReceivedEventArgs e)
{
DateTime nowUTC = DateTime.Now.ToUniversalTime();
double lat = 0.00;
double longitude = 0.00;
bool hasValidMessage = false;
string msgType = "";
DateTime fixtime = DateTime.Now.ToUniversalTime();
if (e.Message is NmeaParser.Nmea.Gps.Gprmc)
{
var message = e.Message as NmeaParser.Nmea.Gps.Gprmc;
lat = message.Latitude;
fixtime = message.FixTime.ToUniversalTime();
longitude = message.Longitude;
hasValidMessage = true;
msgType = "GPRMC";
if (!double.IsNaN(message.Course))
{
lastBearing = message.Course;
}
}
else if (e.Message is NmeaParser.Nmea.Gps.Gpgga)
{
var message = e.Message as NmeaParser.Nmea.Gps.Gpgga;
fixtime = new DateTime(nowUTC.Year, nowUTC.Month, nowUTC.Day, message.FixTime.Hours, message.FixTime.Minutes, message.FixTime.Seconds, message.FixTime.Milliseconds);
lat = message.Latitude;
longitude = message.Longitude;
hasValidMessage = true;
msgType = "GPGGA";
}
else if (e.Message is NmeaParser.Nmea.Gps.Gpgll)
{
var message = e.Message as NmeaParser.Nmea.Gps.Gpgll;
lat = message.Latitude;
longitude = message.Longitude;
hasValidMessage = true;
fixtime = new DateTime(nowUTC.Year, nowUTC.Month, nowUTC.Day, message.FixTime.Hours, message.FixTime.Minutes, message.FixTime.Seconds, message.FixTime.Milliseconds);
msgType = "GPGLL";
}
else if (e.Message is NmeaParser.Nmea.Gps.Gpbod)
{
var message = e.Message as NmeaParser.Nmea.Gps.Gpbod;
lastBearing = message.TrueBearing;
}
if (hasValidMessage)
{
intialized = true;
lock (instance.coordinatesQueue)
{
if (!OverrideLat.HasValue || !OverrideLong.HasValue)
{
var coords = new GpsCoords {
Altitude = null, Latitude = lat, Longitude = longitude, Timestamp = nowUTC
};
coords.TranslateByHeading(lastBearing, gpsOffsetFeet, inReverse);
instance.coordinatesQueue.Enqueue(coords);
}
else
{
instance.coordinatesQueue.Enqueue(new GpsCoords {
Altitude = null, Latitude = OverrideLat, Longitude = OverrideLong, Timestamp = nowUTC
});
}
}
try
{
//Logger.Log("GPS", "Sending GPS Message. " + lat.ToString() + ", " + longitude.ToString());
if (!OverrideLat.HasValue || !OverrideLong.HasValue)
{
Messenger.Default.Send <GPSEventMessage>(new GPSEventMessage {
Timestamp = fixtime, Latitude = lat, Longitude = longitude, MessageType = msgType
});
}
else
{
Messenger.Default.Send <GPSEventMessage>(new GPSEventMessage {
Timestamp = fixtime, Latitude = OverrideLat.Value, Longitude = OverrideLong.Value, MessageType = msgType
});
}
}
catch (Exception gExc)
{
Logging.Logger.Log(gExc);
}
}
lock (instance.coordinatesQueue)
{
while (instance.coordinatesQueue.Count > instance.maxMessages)
{
instance.coordinatesQueue.Dequeue();
}
}
}
public static double SafeLat(GpsCoords coords)
{
return((coords != null) ? coords.NonNullLatitude : 0.000);
}