static void Main(string[] args)
{
Console.WriteLine("Usage: Ntrip.exe comport");
Console.WriteLine("Usage: Ntrip.exe comport lat lng alt");
Console.CancelKeyPress += Console_CancelKeyPress;
AppDomain.CurrentDomain.DomainUnload += (sender, eventArgs) =>
{
stop = true;
Thread.Sleep(1000);
};
var tcp = TcpListener.Create(2101);
tcp.Start();
tcp.BeginAcceptTcpClient(processclient, tcp);
var comport = args[0];
var port = new SerialPort(comport, 115200);
var ubx = new Ubx();
var rtcm = new rtcm3();
Stream file = null;
DateTime filetime = DateTime.MinValue;
Directory.SetCurrentDirectory(Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location));
while (!stop)
{
try
{
if (file == null || DateTime.UtcNow.Day != filetime.Day)
{
if (file != null)
{
file.Close();
}
string fn = "";
int no = 0;
while (File.Exists((fn = DateTime.UtcNow.ToString("yyyy-MM-dd") + "-" + no + ".rtcm.Z")))
{
no++;
}
file = new GZipStream(new BufferedStream(new FileStream(fn,
FileMode.OpenOrCreate)), CompressionMode.Compress);
filetime = DateTime.UtcNow;
}
if (!port.IsOpen)
{
port.Open();
ubx.SetupM8P(port, true, false);
if (args.Length == 4)
{
ubx.SetupBasePos(port,
new PointLatLngAlt(double.Parse(args[1]), double.Parse(args[2]), double.Parse(args[3])),
60, 2);
}
else
{
ubx.SetupBasePos(port, PointLatLngAlt.Zero, 60, 2);
}
}
var btr = port.BytesToRead;
if (btr > 0)
{
var buffer = new byte[btr];
port.Read(buffer, 0, btr);
foreach (byte by in buffer)
{
btr--;
if (ubx.Read((byte)by) > 0)
{
rtcm.resetParser();
//Console.WriteLine(DateTime.Now + " new ubx message");
}
else if (by >= 0 && rtcm.Read((byte)by) > 0)
{
ubx.resetParser();
//Console.WriteLine(DateTime.Now + " new rtcm message");
gotRTCMData?.Invoke(rtcm.packet, rtcm.length);
file.Write(new ReadOnlySpan <byte>(rtcm.packet, 0, rtcm.length));
}
}
}
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
Thread.Sleep(100);
}
if (file != null)
{
file.Close();
}
}
static void Main(string[] args)
{
Console.WriteLine("Usage: Ntrip.exe comport");
Console.WriteLine("Usage: Ntrip.exe comport lat lng alt");
Console.CancelKeyPress += Console_CancelKeyPress;
AppDomain.CurrentDomain.DomainUnload += (sender, eventArgs) =>
{
stop = true;
Thread.Sleep(1000);
};
var tcp = TcpListener.Create(2101);
Console.WriteLine("Listerning on 2101");
tcp.Start();
tcp.BeginAcceptTcpClient(processclient, tcp);
var ubx = new Ubx();
var rtcm = new rtcm3();
var can = new UAVCAN.uavcan();
Stream file = null;
DateTime filetime = DateTime.MinValue;
SerialPort port = null;
everyminute = DateTime.Now.Minute;
Directory.SetCurrentDirectory(Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location));
// setup allocator
can.SourceNode = 127;
can.SetupDynamicNodeAllocator();
// feed the rtcm data into the rtcm parser if we get a can message
can.MessageReceived += (frame, msg, id) =>
{
if (frame.MsgTypeID == (ushort)uavcan.UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_DT_ID)
{
var rtcmcan = (uavcan.uavcan_equipment_gnss_RTCMStream)msg;
for (int a = 0; a < rtcmcan.data_len; a++)
{
int seenmsg = -1;
if ((seenmsg = rtcm.Read(rtcmcan.data[a])) > 0)
{
Console.WriteLine("CANRTCM" + seenmsg);
gotRTCMData?.Invoke(rtcm.packet, rtcm.length);
file.Write(rtcm.packet, 0, rtcm.length);
}
}
}
};
while (!stop)
{
try
{
if (port == null || !port.IsOpen)
{
var comport = args[0];
if (comport.Contains("/dev/"))
{
comport = UnixPath.GetRealPath(comport);
}
Console.WriteLine("Port: " + comport);
port = new SerialPort(comport, 115200);
port.Open();
ubx.SetupM8P(port, true, false);
if (args.Length == 4)
{
ubx.SetupBasePos(port,
new PointLatLngAlt(double.Parse(args[1]), double.Parse(args[2]), double.Parse(args[3])),
60, 2);
}
else
{
ubx.SetupBasePos(port, PointLatLngAlt.Zero, 60, 2);
}
}
if (file == null || !file.CanWrite || DateTime.UtcNow.Day != filetime.Day)
{
if (file != null)
{
file.Close();
}
string fn = "";
int no = 0;
while (File.Exists((fn = DateTime.UtcNow.ToString("yyyy-MM-dd") + "-" + no + ".rtcm.Z")))
{
no++;
}
file = new GZipStream(new BufferedStream(new FileStream(fn,
FileMode.OpenOrCreate)), CompressionMode.Compress);
filetime = DateTime.UtcNow;
}
var btr = port.BytesToRead;
if (btr > 0)
{
totalread += btr;
var buffer = new byte[btr];
btr = port.Read(buffer, 0, btr);
foreach (byte by in buffer)
{
btr--;
if (ubx.Read((byte)by) > 0)
{
rtcm.resetParser();
//Console.WriteLine(DateTime.Now + " new ubx message");
}
if (by >= 0 && rtcm.Read((byte)by) > 0)
{
ubx.resetParser();
//Console.WriteLine(DateTime.Now + " new rtcm message");
gotRTCMData?.Invoke(rtcm.packet, rtcm.length);
file.Write(rtcm.packet, 0, rtcm.length);
}
if ((by >= 0 && can.Read(by) > 0))// can_rtcm
{
ubx.resetParser();
}
}
}
if (DateTime.Now.Minute != everyminute)
{
Console.WriteLine("{0} bps", totalread / 60);
if (totalread == 0)
{
try
{
port.Close();
port = null;
}
catch (Exception ex)
{
port = null;
}
}
totalread = 0;
everyminute = DateTime.Now.Minute;
}
}
catch (UnauthorizedAccessException ex)
{
Console.WriteLine(ex);
Thread.Sleep(5000);
}
catch (IOException ex)
{
Console.WriteLine(ex);
Thread.Sleep(1000);
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
Thread.Sleep(10);
}
if (file != null)
{
file.Close();
}
}
