| public poll_msg ( ICommsSerial port, byte clas, byte subclass ) : void | ||
| port | ICommsSerial | |
| clas | byte | |
| subclass | byte | |
| return | void | |
private static void ProcessUBXMessage()
{
try
{
// survey in
if (ubx_m8p.@class == 0x1 && ubx_m8p.subclass == 0x3b)
{
var svin = ubx_m8p.packet.ByteArrayToStructure <Utilities.ubx_m8p.ubx_nav_svin>(6);
ubxsvin = svin;
updateSVINLabel((svin.valid == 1), (svin.active == 1), svin.dur, svin.obs, svin.meanAcc / 10000.0);
var pos = svin.getECEF();
double[] baseposllh = new double[3];
Utilities.rtcm3.ecef2pos(pos, ref baseposllh);
if (svin.valid == 1)
{
//MainV2.comPort.MAV.cs.MovingBase = new Utilities.PointLatLngAlt(baseposllh[0]*Utilities.rtcm3.R2D,
//baseposllh[1]*Utilities.rtcm3.R2D, baseposllh[2]);
}
//if (svin.valid == 1)
//ubx_m8p.turnon_off(comPort, 0x1, 0x3b, 0);
}
else if (ubx_m8p.@class == 0x1 && ubx_m8p.subclass == 0x7)
{
var pvt = ubx_m8p.packet.ByteArrayToStructure <Utilities.ubx_m8p.ubx_nav_pvt>(6);
//MainV2.comPort.MAV.cs.MovingBase = new Utilities.PointLatLngAlt(pvt.lat / 1e7, pvt.lon / 1e7, pvt.height / 1000.0);
}
else if (ubx_m8p.@class == 0x5 && ubx_m8p.subclass == 0x1)
{
log.InfoFormat("ubx ack {0} {1}", ubx_m8p.packet[6], ubx_m8p.packet[7]);
}
else if (ubx_m8p.@class == 0x5 && ubx_m8p.subclass == 0x0)
{
log.InfoFormat("ubx Nack {0} {1}", ubx_m8p.packet[6], ubx_m8p.packet[7]);
}
else if (ubx_m8p.@class == 0xa && ubx_m8p.subclass == 0x4)
{
var ver = ubx_m8p.packet.ByteArrayToStructure <Utilities.ubx_m8p.ubx_mon_ver>(6);//, ubx_m8p.length - 8);
Console.WriteLine("ubx mon-ver {0} {1}", ASCIIEncoding.ASCII.GetString(ver.hwVersion),
ASCIIEncoding.ASCII.GetString(ver.swVersion));
for (int a = 40 + 6; a < ubx_m8p.length - 2; a += 30)
{
var extension = ASCIIEncoding.ASCII.GetString(ubx_m8p.buffer, a, 30);
Console.WriteLine("ubx mon-ver {0}", extension);
}
}
else if (ubx_m8p.@class == 0xa && ubx_m8p.subclass == 0x9)
{
var hw = ubx_m8p.packet.ByteArrayToStructure <Utilities.ubx_m8p.ubx_mon_hw>(6);
Console.WriteLine("ubx mon-hw noise {0} agc% {1} jam% {2} jamstate {3}", hw.noisePerMS, (hw.agcCnt / 8191.0) * 100.0, (hw.jamInd / 256.0) * 100, hw.flags & 0xc);
}
else if (ubx_m8p.@class == 0xf5)
{
// rtcm
}
else if (ubx_m8p.@class == 0x02)
{
// rxm-raw
}
else if (ubx_m8p.@class == 0x06 && ubx_m8p.subclass == 0x71)
{
// TMODE3
var tmode = ubx_m8p.packet.ByteArrayToStructure <Utilities.ubx_m8p.ubx_cfg_tmode3>(6);
ubxmode = tmode;
log.InfoFormat("ubx TMODE3 {0} {1}", (ubx_m8p.ubx_cfg_tmode3.modeflags)tmode.flags, "");
}
else
{
ubx_m8p.turnon_off(comPort, ubx_m8p.@class, ubx_m8p.subclass, 0);
}
if (pollTMODE < DateTime.Now)
{
ubx_m8p.poll_msg(comPort, 0x06, 0x71);
pollTMODE = DateTime.Now.AddSeconds(60);
ubx_m8p.poll_msg(comPort, 0x0a, 0x4);
}
}
catch (Exception ex)
{
log.Error(ex);
}
}
private static void ProcessUBXMessage()
{
try
{
// survey in
if (ubx_m8p.@class == 0x1 && ubx_m8p.subclass == 0x3b)
{
var svin = ubx_m8p.packet.ByteArrayToStructure <Utilities.ubx_m8p.ubx_nav_svin>(6);
ubxsvin = svin;
updateSVINLabel((svin.valid == 1), (svin.active == 1), svin.dur, svin.obs, svin.meanAcc / 10000.0);
var pos = svin.getECEF();
double[] baseposllh = new double[3];
Utilities.rtcm3.ecef2pos(pos, ref baseposllh);
//MainV2.comPort.MAV.cs.MovingBase = new Utilities.PointLatLngAlt(baseposllh[0]*Utilities.rtcm3.R2D,
//baseposllh[1]*Utilities.rtcm3.R2D, baseposllh[2]);
//if (svin.valid == 1)
//ubx_m8p.turnon_off(comPort, 0x1, 0x3b, 0);
}
else if (ubx_m8p.@class == 0x1 && ubx_m8p.subclass == 0x7)
{
var pvt = ubx_m8p.packet.ByteArrayToStructure <Utilities.ubx_m8p.ubx_nav_pvt>(6);
//MainV2.comPort.MAV.cs.MovingBase = new Utilities.PointLatLngAlt(pvt.lat / 1e7, pvt.lon / 1e7, pvt.height / 1000.0);
}
else if (ubx_m8p.@class == 0x5 && ubx_m8p.subclass == 0x1)
{
log.InfoFormat("ubx ack {0} {1}", ubx_m8p.packet[6], ubx_m8p.packet[7]);
}
else if (ubx_m8p.@class == 0x5 && ubx_m8p.subclass == 0x0)
{
log.InfoFormat("ubx Nack {0} {1}", ubx_m8p.packet[6], ubx_m8p.packet[7]);
}
else if (ubx_m8p.@class == 0xa && ubx_m8p.subclass == 0x4)
{
log.InfoFormat("ubx mon-ver {0} {1}", ubx_m8p.packet[6], ubx_m8p.packet[7]);
}
else if (ubx_m8p.@class == 0xf5)
{
// rtcm
}
else if (ubx_m8p.@class == 0x02)
{
// rxm-raw
}
else if (ubx_m8p.@class == 0x06 && ubx_m8p.subclass == 0x71)
{
// TMODE3
var tmode = ubx_m8p.packet.ByteArrayToStructure <Utilities.ubx_m8p.ubx_cfg_tmode3>(6);
ubxmode = tmode;
log.InfoFormat("ubx TMODE3 {0} {1}", (ubx_m8p.ubx_cfg_tmode3.modeflags)tmode.flags, "");
}
else
{
ubx_m8p.turnon_off(comPort, ubx_m8p.@class, ubx_m8p.subclass, 0);
}
if (pollTMODE < DateTime.Now)
{
ubx_m8p.poll_msg(comPort, 0x06, 0x71);
pollTMODE = DateTime.Now.AddSeconds(60);
}
}
catch (Exception ex)
{
log.Error(ex);
}
}