/// <summary>
/// Initializes a new instance of the <see cref="Rmb"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Rmb(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 13)
{
throw new ArgumentException("Invalid GPRMB", "message");
}
Status = message[0] == "A" ? DataStatus.Ok : Rmb.DataStatus.Warning;
double tmp;
if (double.TryParse(message[1], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
CrossTrackError = tmp;
if (message[2] == "L") //Steer left
{
CrossTrackError *= -1;
}
}
else
{
CrossTrackError = double.NaN;
}
if (message[3].Length > 0)
{
OriginWaypointId = int.Parse(message[3], CultureInfo.InvariantCulture);
}
if (message[3].Length > 0)
{
DestinationWaypointId = int.Parse(message[4], CultureInfo.InvariantCulture);
}
DestinationLatitude = NmeaMessage.StringToLatitude(message[5], message[6]);
DestinationLongitude = NmeaMessage.StringToLongitude(message[7], message[8]);
if (double.TryParse(message[9], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
RangeToDestination = tmp;
}
else
{
RangeToDestination = double.NaN;
}
if (double.TryParse(message[10], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
TrueBearing = tmp;
}
else
{
TrueBearing = double.NaN;
}
if (double.TryParse(message[11], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
Velocity = tmp;
}
else
{
Velocity = double.NaN;
}
Arrived = message[12] == "A";
}
/// <summary>
/// Initializes a new instance of the <see cref="Gga"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Gga(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 14)
{
throw new ArgumentException("Invalid GPGGA", "message");
}
FixTime = StringToTimeSpan(message[0]);
Latitude = NmeaMessage.StringToLatitude(message[1], message[2]);
Longitude = NmeaMessage.StringToLongitude(message[3], message[4]);
Quality = (Gga.FixQuality) int.Parse(message[5], CultureInfo.InvariantCulture);
NumberOfSatellites = int.Parse(message[6], CultureInfo.InvariantCulture);
Hdop = NmeaMessage.StringToDouble(message[7]);
Altitude = NmeaMessage.StringToDouble(message[8]);
AltitudeUnits = message[9];
HeightOfGeoid = NmeaMessage.StringToDouble(message[10]);
HeightOfGeoidUnits = message[11];
var timeInSeconds = StringToDouble(message[12]);
if (!double.IsNaN(timeInSeconds))
{
TimeSinceLastDgpsUpdate = TimeSpan.FromSeconds(timeInSeconds);
}
else
{
TimeSinceLastDgpsUpdate = TimeSpan.MaxValue;
}
if (message[13].Length > 0)
{
DgpsStationId = int.Parse(message[13], CultureInfo.InvariantCulture);
}
else
{
DgpsStationId = -1;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Gll"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Gll(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 4)
{
throw new ArgumentException("Invalid GPGLL", "message");
}
Latitude = NmeaMessage.StringToLatitude(message[0], message[1]);
Longitude = NmeaMessage.StringToLongitude(message[2], message[3]);
if (message.Length >= 5) //Some older GPS doesn't broadcast fix time
{
FixTime = StringToTimeSpan(message[4]);
}
DataActive = (message.Length < 6 || message[5] == "A");
ModeIndicator = DataActive ? Mode.Autonomous : Mode.DataNotValid;
if (message.Length > 6)
{
switch (message[6])
{
case "A": ModeIndicator = Mode.Autonomous; break;
case "D": ModeIndicator = Mode.DataNotValid; break;
case "E": ModeIndicator = Mode.EstimatedDeadReckoning; break;
case "M": ModeIndicator = Mode.Manual; break;
case "S": ModeIndicator = Mode.Simulator; break;
case "N": ModeIndicator = Mode.DataNotValid; break;
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Rmc"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Rmc(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 11)
{
throw new ArgumentException("Invalid GPRMC", "message");
}
if (message[8].Length == 6 && message[0].Length >= 6)
{
FixTime = new DateTime(int.Parse(message[8].Substring(4, 2), CultureInfo.InvariantCulture) + 2000,
int.Parse(message[8].Substring(2, 2), CultureInfo.InvariantCulture),
int.Parse(message[8].Substring(0, 2), CultureInfo.InvariantCulture),
int.Parse(message[0].Substring(0, 2), CultureInfo.InvariantCulture),
int.Parse(message[0].Substring(2, 2), CultureInfo.InvariantCulture),
0, DateTimeKind.Utc).AddSeconds(double.Parse(message[0].Substring(4), CultureInfo.InvariantCulture));
}
Active = (message[1] == "A");
Latitude = NmeaMessage.StringToLatitude(message[2], message[3]);
Longitude = NmeaMessage.StringToLongitude(message[4], message[5]);
Speed = NmeaMessage.StringToDouble(message[6]);
Course = NmeaMessage.StringToDouble(message[7]);
MagneticVariation = NmeaMessage.StringToDouble(message[9]);
if (!double.IsNaN(MagneticVariation) && message[10] == "W")
{
MagneticVariation *= -1;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Gns"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Gns(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 12)
{
throw new ArgumentException("Invalid GNS", "message");
}
FixTime = StringToTimeSpan(message[0]);
Latitude = NmeaMessage.StringToLatitude(message[1], message[2]);
Longitude = NmeaMessage.StringToLongitude(message[3], message[4]);
if (message[5].Length > 0)
{
GpsModeIndicator = ParseModeIndicator(message[5][0]);
}
if (message[5].Length > 1)
{
GlonassModeIndicator = ParseModeIndicator(message[5][1]);
}
if (message[5].Length > 2)
{
FutureModeIndicator = message[5].Skip(2).Select(t => ParseModeIndicator(t)).ToArray();
}
else
{
FutureModeIndicator = new Mode[] { }
};
NumberOfSatellites = int.Parse(message[6], CultureInfo.InvariantCulture);
Hdop = NmeaMessage.StringToDouble(message[7]);
OrhometricHeight = NmeaMessage.StringToDouble(message[8]);
GeoidalSeparation = NmeaMessage.StringToDouble(message[9]);
var timeInSeconds = StringToDouble(message[10]);
if (!double.IsNaN(timeInSeconds))
{
TimeSinceLastDgpsUpdate = TimeSpan.FromSeconds(timeInSeconds);
}
else
{
TimeSinceLastDgpsUpdate = TimeSpan.MaxValue;
}
if (message[11].Length > 0)
{
DgpsStationId = message[11];
}
if (message.Length > 12)
{
switch (message[12])
{
case "S": Status = NavigationalStatus.Safe; break;
case "C": Status = NavigationalStatus.Caution; break;
case "U": Status = NavigationalStatus.Unsafe; break;
case "V":
default: Status = NavigationalStatus.NotValid; break;
}
}
}
/// <summary>
/// Parses the specified NMEA message.
/// </summary>
/// <param name="message">The NMEA message string.</param>
/// <returns></returns>
/// <exception cref="System.ArgumentException">
/// Invalid nmea message: Missing starting character '$'
/// or checksum failure
/// </exception>
public static NmeaMessage Parse(string message)
{
if (string.IsNullOrEmpty(message))
{
throw new ArgumentNullException("message");
}
int checksum = -1;
if (message[0] != '$')
{
throw new ArgumentException("Invalid nmea message: Missing starting character '$'");
}
var idx = message.IndexOf('*');
if (idx >= 0)
{
checksum = Convert.ToInt32(message.Substring(idx + 1), 16);
message = message.Substring(0, message.IndexOf('*'));
}
if (checksum > -1)
{
int checksumTest = 0;
for (int i = 1; i < message.Length; i++)
{
checksumTest ^= Convert.ToByte(message[i]);
}
if (checksum != checksumTest)
{
throw new ArgumentException(string.Format(CultureInfo.InvariantCulture, "Invalid nmea message: Checksum failure. Got {0:X2}, Expected {1:X2}", checksum, checksumTest));
}
}
string[] parts = message.Split(new char[] { ',' });
string MessageType = parts[0].Substring(1);
string[] MessageParts = parts.Skip(1).ToArray();
if (messageTypes == null)
{
LoadResponseTypes();
}
NmeaMessage msg = null;
if (messageTypes.ContainsKey(MessageType))
{
msg = (NmeaMessage)messageTypes[MessageType].Invoke(new object[] { });
}
else
{
msg = new UnknownMessage();
}
msg.MessageType = MessageType;
msg.MessageParts = MessageParts;
msg.OnLoadMessage(MessageParts);
return(msg);
}
/// <summary>
/// Initializes a new instance of the <see cref="Vtg"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Vtg(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 7)
{
throw new ArgumentException("Invalid Gpvtg", "message");
}
TrueCourseOverGround = NmeaMessage.StringToDouble(message[0]);
MagneticCourseOverGround = NmeaMessage.StringToDouble(message[2]);
SpeedInKnots = NmeaMessage.StringToDouble(message[4]);
SpeedInKph = NmeaMessage.StringToDouble(message[6]);
}
/// <summary>
/// Called when the message is being loaded.
/// </summary>
/// <param name="message">The NMEA message values.</param>
protected override void OnLoadMessage(string[] message)
{
if (message == null || message.Length < 14)
{
throw new ArgumentException("Invalid GPGGA", "message");
}
FixTime = StringToTimeSpan(message[0]);
Validity = message[1];
Latitude = NmeaMessage.StringToLatitude(message[2], message[3]);
Longitude = NmeaMessage.StringToLongitude(message[4], message[5]);
Sog = Double.Parse(message[5], CultureInfo.InvariantCulture);
Cog = Double.Parse(message[6], CultureInfo.InvariantCulture);
DateOfFix = message[7];
}
/// <summary>
/// Called when the message is being loaded.
/// </summary>
/// <param name="message">The NMEA message values.</param>
protected override void OnLoadMessage(string[] message)
{
if (message == null || message.Length < 4)
{
throw new ArgumentException("Invalid GPGLL", "message");
}
Latitude = NmeaMessage.StringToLatitude(message[0], message[1]);
Longitude = NmeaMessage.StringToLongitude(message[2], message[3]);
if (message.Length >= 5) //Some older GPS doesn't broadcast fix time
{
FixTime = StringToTimeSpan(message[4]);
}
DataActive = (message.Length < 6 || message[5] == "A");
}
/// <summary>
/// Initializes a new instance of the <see cref="Gst"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Gst(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 8)
{
throw new ArgumentException("Invalid GPGST", "message");
}
FixTime = StringToTimeSpan(message[0]);
Rms = NmeaMessage.StringToDouble(message[1]);
SemiMajorError = NmeaMessage.StringToDouble(message[2]);
SemiMinorError = NmeaMessage.StringToDouble(message[3]);
ErrorOrientation = NmeaMessage.StringToDouble(message[4]);
SigmaLatitudeError = NmeaMessage.StringToDouble(message[5]);
SigmaLongitudeError = NmeaMessage.StringToDouble(message[6]);
SigmaHeightError = NmeaMessage.StringToDouble(message[7]);
}
private void OnMessageReceived(Nmea.NmeaMessage msg)
{
var args = new NmeaMessageReceivedEventArgs(msg);
var multi = msg as IMultiPartMessage;
if (multi != null)
{
args.IsMultipart = true;
if (MultiPartMessageCache.ContainsKey(msg.MessageType))
{
var dic = MultiPartMessageCache[msg.MessageType];
if (dic.ContainsKey(multi.MessageNumber - 1) && !dic.ContainsKey(multi.MessageNumber))
{
dic[multi.MessageNumber] = msg;
}
else //Something is out of order. Clear cache
{
MultiPartMessageCache.Remove(msg.MessageType);
}
}
else if (multi.MessageNumber == 1)
{
MultiPartMessageCache[msg.MessageType] = new Dictionary <int, Nmea.NmeaMessage>(multi.TotalMessages);
MultiPartMessageCache[msg.MessageType][1] = msg;
}
if (MultiPartMessageCache.ContainsKey(msg.MessageType))
{
var dic = MultiPartMessageCache[msg.MessageType];
if (dic.Count == multi.TotalMessages) //We have a full list
{
MultiPartMessageCache.Remove(msg.MessageType);
args.MessageParts = dic.Values.ToArray();
}
}
}
if (MessageReceived != null)
{
MessageReceived(this, args);
}
}
private void OnMessageReceived(Nmea.NmeaMessage msg)
{
if (msg == null)
{
return;
}
Nmea.NmeaMessage[]? messageParts = null;
if (msg is IMultiPartMessage multi)
{
string messageType = msg.MessageType.Substring(2); //We don't care about the two first characters. Ie GPGSV, GLGSV, GAGSV etc are all part of the same multi-part message
if (MultiPartMessageCache.ContainsKey(messageType))
{
var dic = MultiPartMessageCache[messageType];
if (dic.ContainsKey(multi.MessageNumber - 1) && !dic.ContainsKey(multi.MessageNumber))
{
dic[multi.MessageNumber] = msg;
}
else //Something is out of order. Clear cache
{
MultiPartMessageCache.Remove(messageType);
}
}
else if (multi.MessageNumber == 1)
{
MultiPartMessageCache[messageType] = new Dictionary <int, Nmea.NmeaMessage>(multi.TotalMessages);
MultiPartMessageCache[messageType][1] = msg;
}
if (MultiPartMessageCache.ContainsKey(messageType))
{
var dic = MultiPartMessageCache[messageType];
if (dic.Count == multi.TotalMessages) //We have a full list
{
MultiPartMessageCache.Remove(messageType);
messageParts = dic.Values.ToArray();
}
}
}
MessageReceived?.Invoke(this, new NmeaMessageReceivedEventArgs(msg, messageParts));
}
internal NmeaMessageReceivedEventArgs(Nmea.NmeaMessage message)
{
Message = message;
}
internal NmeaMessageReceivedEventArgs(Nmea.NmeaMessage message, IReadOnlyList <Nmea.NmeaMessage>?messageParts)
{
Message = message;
MessageParts = messageParts;
}
