/// <summary>
/// Initializes the NMEA Geographic position, Latitude and Longitude and parses an NMEA sentence
/// </summary>
/// <param name="NMEAsentence"></param>
public GPGLL(string NMEAsentence)
{
try
{
//Split into an array of strings.
string[] split = NMEAsentence.Split(new Char[] { ',' });
try
{
_position = new Coordinate(GPSHandler.GPSToDecimalDegrees(split[3], split[4]),
GPSHandler.GPSToDecimalDegrees(split[1], split[2]));
}
catch { _position = null; }
try
{
_timeOfSolution = new TimeSpan(int.Parse(split[5].Substring(0, 2)),
int.Parse(split[5].Substring(2, 2)),
int.Parse(split[5].Substring(4)));
}
catch
{
_timeOfSolution = null; // TimeSpan.Zero;
}
_dataValid = (split[6] == "A");
}
catch { }
}
public LoginPage()
{
this.InitializeComponent();
gpsHandler = new GPSHandler();
MyMapLoginScreen.ColorScheme = MapColorScheme.Dark;
this.Loaded += page_Loaded;
}
public NTRIPClient(IPEndPoint Server, GPSHandler gpsHandler)
{
//Initialization...
gps = gpsHandler;
BroadCaster = Server;
//InitializeSocket();
}
void Start()
{
if (Instance == null)
{
Instance = this;
StartCoroutine(StartLocationService());
}
}
public MainForm()
{
InitializeComponent();
GPS = new GPSHandler(); //Initialize GPS handler
GPS.TimeOut = 5; //Set timeout to 5 seconds
GPS.NewGPSFix += GPSEventHandler; //Hook up GPS data events to a handler
frmGpsSettings = new FrmGpsSettings();
}
public MainForm()
{
InitializeComponent();
GPS = new GPSHandler(); //Initialize GPS handler
GPS.TimeOut = 5; //Set timeout to 5 seconds
GPS.NewGPSFix += GPSEventHandler; //Hook up GPS data events to a handler
frmGpsSettings = new FrmGpsSettings();
}
private async void page_Loaded(object sender, RoutedEventArgs args)
{
//Init map
mapController = new MapController(MyMap);
gpsHandler = new GPSHandler();
InitGPS();
mapController.InitMap();
await mapController.GetJsonBuildings();
drawGeofences();
}
/// <summary>
/// Initializes the NMEA Estimated Position Error and parses an NMEA sentence
/// </summary>
/// <param name="NMEAsentence"></param>
public GPRME(string NMEAsentence)
{
try
{
//Split into an array of strings.
string[] split = NMEAsentence.Split(new Char[] { ',' });
GPSHandler.dblTryParse(split[1], out _estHorisontalError);
GPSHandler.dblTryParse(split[3], out _estVerticalError);
GPSHandler.dblTryParse(split[5], out _estSphericalError);
}
catch { }
}
public MainForm()
{
InitializeComponent();
GPS = new GPSHandler(this); //Initialize GPS handler
GPS.TimeOut = 5; //Set timeout to 5 seconds
GPS.NewGPSFix += new GPSHandler.NewGPSFixHandler(this.GPSEventHandler); //Hook up GPS data events to a handler
frmGpsSettings = new FrmGpsSettings();
frmNtripSettings = new FrmNTRIPSettings();
ntrip = null;
ntripStarted = false;
Coms = new List <SerialPort>();
}
/// <summary>
/// Adds a GPGSV sentence, and parses it.
/// </summary>
/// <param name="NMEAsentence">NMEA string</param>
/// <returns>Returns true if this is the last message in GSV nmea sentences</returns>
public bool AddSentence(string NMEAsentence)
{
bool lastmsg = false;
try
{
//Split into an array of strings.
string[] split = NMEAsentence.Split(new Char[] { ',' });
int satsInView = GPSHandler.intTryParse(split[3]);
int msgCount = GPSHandler.intTryParse(split[1]); //Number of GPGSV messages
int msgno = GPSHandler.intTryParse(split[2]); //Current messagenumber
if (msgCount < msgno || msgno < 1) //check for invalid data (could be zero if parse failed)
{
return(false);
}
if (msgno == 1)
{
_satellites.Clear(); //First message. Let's clear the satellite list
firstMessageParsed = true;
}
else if (!firstMessageParsed) //If we haven't received the first GSV message, return
{
return(false);
}
lastmsg = (msgCount == msgno); //Is this the last GSV message in the GSV messages?
int satsInMsg;
if (!lastmsg)
{
satsInMsg = 4; //If this isn't the last message, the message will hold info for 4 satellites
}
else
{
satsInMsg = satsInView - 4 * (msgno - 1); //calculate number of satellites in last message
}
for (int i = 0; i < satsInMsg; i++)
{
Satellite sat = new Satellite();
sat.PRN = split[i * 4 + 4];
sat.Elevation = Convert.ToByte(split[i * 4 + 5]);
sat.Azimuth = Convert.ToInt16(split[i * 4 + 6]);
Byte.TryParse(split[i * 4 + 7], out sat.SNR);
//sat.SNR = Convert.ToByte(split[i * 4 + 7]);
_satellites.Add(sat);
}
}
catch { }
return(lastmsg);
}
/// <summary>
/// Begins the listening for messages, and signals from the signal app
/// </summary>
public void StartListening()
{
SubscribeGeneralMessage(Gestures.UP);
SubscribeGeneralMessage(Gestures.DOWN);
SubscribeGeneralMessage(Gestures.LEFT);
SubscribeGeneralMessage(Gestures.RIGHT);
IMusicManager musicManager = new SpotifyManager();
actionHandler.RegisterMusicManager(musicManager);
MessagingCenter.Subscribe <SettingsViewModel>(this, Gestures.SPOTIFY, async message =>
{
if (!actionHandler.HasAuthenticatedMusicManager)
{
MessagingCenter.Subscribe <SpotifyLoginMessage>(this, "LoginSuccess", message =>
{
if (!actionHandler.HasAuthenticatedMusicManager)
{
actionHandler.UpdateMusicManagerAuthentication(true);
MessagingCenter.Send(new SpotifyLoginMessage("RegistrationSuccess", message.HasPremium), "RegistrationSuccess");
}
});
await musicManager.Init();
}
});
MessagingCenter.Subscribe <DNDPermissionMessage>(this, "DNDAdded", message =>
{
if (!notificationManager.IsNotificationPolicyAccessGranted)
{
Intent intent = new Intent(Android.Provider.Settings.ActionNotificationPolicyAccessSettings);
StartActivity(intent);
}
else
{
MessagingCenter.Send(new DNDPermissionMessage(), "DNDGranted");
}
});
MessagingCenter.Subscribe <string>(this, "GPSRoute", async message =>
{
GPSManager gpsManager = new GPSManager();
GPSHandler handler = new GPSHandler();
GPSSetting setting = await handler.GetSetting();
Rootobject root = await gpsManager.GetDirectionsAsync(setting.Destination, setting.Mode);
if (root.status.Equals("NOT_FOUND"))
{
MessagingCenter.Send <string>("", "Unsuccessful");
return;
}
MessagingCenter.Send <string, Rootobject>("", "GetRoute", root);
});
}
/// <summary>
/// GPS DOP and active satellites and parses an NMEA sentence
/// </summary>
/// <param name="NMEAsentence"></param>
public GPGSA(string NMEAsentence)
{
_pRNInSolution = new List <string>();
try
{
if (NMEAsentence.IndexOf('*') > 0)
{
NMEAsentence = NMEAsentence.Substring(0, NMEAsentence.IndexOf('*'));
}
//Split into an array of strings.
string[] split = NMEAsentence.Split(new Char[] { ',' });
if (split[1].Length > 0)
{
_mode = split[1][0];
}
else
{
_mode = ' ';
}
if (split[2].Length > 0)
{
switch (split[2])
{
case "2": _fixMode = GSAFixModeEnum._2D; break;
case "3": _fixMode = GSAFixModeEnum._3D; break;
default: _fixMode = GSAFixModeEnum.FixNotAvailable; break;
}
}
_pRNInSolution.Clear();
for (int i = 0; i <= 11; i++)
{
if (split[i + 3] != "")
{
_pRNInSolution.Add(split[i + 3]);
}
}
GPSHandler.dblTryParse(split[15], out _pdop);
GPSHandler.dblTryParse(split[16], out _hdop);
GPSHandler.dblTryParse(split[17], out _vdop);
}
catch { }
}
public static NTRIPCaster ParseFromString(string line)
{
string[] strData = line.Trim().Split(';');
NTRIPCaster data = new NTRIPCaster();
data.Host = new System.Net.IPEndPoint(System.Net.Dns.GetHostEntry(strData[1]).AddressList[0], int.Parse(strData[2]));
//data.Host = new System.Net.IPEndPoint(System.Net.IPAddress.Parse(strData[1]),int.Parse(strData[2]));
data.Identifier = strData[3];
data.Operator = strData[4];
data.NMEA = (strData[5] == "1");
data.Country = strData[6];
GPSHandler.dblTryParse(strData[7], out data.Latitude);
GPSHandler.dblTryParse(strData[8], out data.Longitude);
if (strData.Length > 9)
{
data.FallbackHost = strData[9];
}
return(data);
}
/// <summary>
/// Initializes the NMEA Global Positioning System Fix Data and parses an NMEA sentence
/// </summary>
/// <param name="NMEAsentence"></param>
public GPGGA(string NMEAsentence)
{
try
{
if (NMEAsentence.IndexOf('*') > 0)
{
NMEAsentence = NMEAsentence.Substring(0, NMEAsentence.IndexOf('*'));
}
//Split into an array of strings.
string[] split = NMEAsentence.Split(new Char[] { ',' });
if (split[1].Length >= 6)
{
TimeSpan t = new TimeSpan(GPSHandler.intTryParse(split[1].Substring(0, 2)),
GPSHandler.intTryParse(split[1].Substring(2, 2)), GPSHandler.intTryParse(split[1].Substring(4, 2)));
DateTime nowutc = DateTime.UtcNow;
nowutc = nowutc.Add(-nowutc.TimeOfDay);
_timeOfFix = nowutc.Add(t);
}
_position = new Coordinate(GPSHandler.GPSToDecimalDegrees(split[4], split[5]),
GPSHandler.GPSToDecimalDegrees(split[2], split[3]));
if (split[6] == "1")
{
_fixQuality = FixQualityEnum.GPS;
}
else if (split[6] == "2")
{
_fixQuality = FixQualityEnum.DGPS;
}
else
{
_fixQuality = FixQualityEnum.Invalid;
}
_noOfSats = Convert.ToByte(split[7]);
GPSHandler.dblTryParse(split[8], out _dilution);
GPSHandler.dblTryParse(split[9], out _altitude);
_altitudeUnits = split[10][0];
GPSHandler.dblTryParse(split[11], out _heightOfGeoid);
GPSHandler.intTryParse(split[13], out _dGPSUpdate);
_dGPSStationID = split[14];
}
catch { }
}
/// <summary>
/// Initializes the NMEA Recommended minimum specific GPS/Transit data and parses an NMEA sentence
/// </summary>
/// <param name="NMEAsentence"></param>
public GPRMC(string NMEAsentence)
{
try
{
//Split into an array of strings.
string[] split = NMEAsentence.Split(new Char[] { ',' });
//Extract date/time
try
{
string[] DateTimeFormats = { "ddMMyyHHmmss", "ddMMyy", "ddMMyyHHmmss.FFFFFF" };
if (split[9].Length >= 6) //Require at least the date to be present
{
string time = split[9] + split[1]; // +" 0";
_timeOfFix = DateTime.ParseExact(time, DateTimeFormats, GPSHandler.NumberFormatEnUs, System.Globalization.DateTimeStyles.AssumeUniversal);
}
else
{
_timeOfFix = new DateTime();
}
}
catch { _timeOfFix = new DateTime(); }
if (split[2] == "A")
{
_status = StatusEnum.OK;
}
else
{
_status = StatusEnum.Warning;
}
_position = new Coordinate(GPSHandler.GPSToDecimalDegrees(split[5], split[6]),
GPSHandler.GPSToDecimalDegrees(split[3], split[4]));
GPSHandler.dblTryParse(split[7], out _speed);
GPSHandler.dblTryParse(split[8], out _course);
GPSHandler.dblTryParse(split[10], out _magneticVariation);
}
catch { }
}
public NTRIPClient(IPEndPoint Server, string strUserName, string strPassword, GPSHandler gpsHandler) : this(Server, gpsHandler)
{
_username = strUserName;
_password = strPassword;
//InitializeSocket();
}
public GpsDevice(HierachyItem owner)
{
GPS = new GPSHandler(); //Initialize GPS handler
GPS.TimeOut = 5; //Set timeout to 5 seconds
GPS.NewGPSFix += new GPSHandler.NewGPSFixHandler(this.GPSEventHandler); //Hook up GPS data events to a handle
values = new MonitoredDictionary <string, UAVSingleParameter>(owner);
if (!values.ContainsKey("lbRMCPosition"))
{
values.Add(new UAVParameter("lbRMCPosition", GPS.GPRMC.Position, null, null, urate));
}
if (!values.ContainsKey("lbRMCPositionLongitude"))
{
values.Add(new UAVParameter("lbRMCPositionLongitude", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMCPositionLatitude"))
{
values.Add(new UAVParameter("lbRMCPositionLatitude", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMCPositionUTM"))
{
values.Add(new UAVParameter("lbRMCPositionUTM", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMCCourse"))
{
values.Add(new UAVParameter("lbRMCCourse", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMCSpeed"))
{
values.Add(new UAVParameter("lbRMCSpeed", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMCTimeOfFix"))
{
values.Add(new UAVParameter("lbRMCTimeOfFix", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMCMagneticVariation"))
{
values.Add(new UAVParameter("lbRMCMagneticVariation", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGAPosition"))
{
values.Add(new UAVParameter("lbGGAPosition", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGATimeOfFix"))
{
values.Add(new UAVParameter("lbGGATimeOfFix", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGAFixQuality"))
{
values.Add(new UAVParameter("lbGGAFixQuality", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGANoOfSats"))
{
values.Add(new UAVParameter("lbGGANoOfSats", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGAAltitude"))
{
values.Add(new UAVParameter("lbGGAAltitude", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGAAltitudeUnit"))
{
values.Add(new UAVParameter("lbGGAAltitudeUnit", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGAHDOP"))
{
values.Add(new UAVParameter("lbGGAHDOP", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGAGeoidHeight"))
{
values.Add(new UAVParameter("lbGGAGeoidHeight", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGADGPSupdate"))
{
values.Add(new UAVParameter("lbGGADGPSupdate", 0, null, null, urate));
}
if (!values.ContainsKey("lbGGADGPSID"))
{
values.Add(new UAVParameter("lbGGADGPSID", 0, null, null, urate));
}
if (!values.ContainsKey("lbGLLPosition"))
{
values.Add(new UAVParameter("lbGLLPosition", 0, null, null, urate));
}
if (!values.ContainsKey("lbGLLTimeOfSolution"))
{
values.Add(new UAVParameter("lbGLLTimeOfSolution", 0, null, null, urate));
}
if (!values.ContainsKey("lbGLLDataValid"))
{
values.Add(new UAVParameter("lbGLLDataValid", 0, null, null, urate));
}
if (!values.ContainsKey("lbGSAMode"))
{
values.Add(new UAVParameter("lbGSAMode", 0, null, null, urate));
}
if (!values.ContainsKey("lbGLLPosition"))
{
values.Add(new UAVParameter("lbGLLPosition", 0, null, null, urate));
}
if (!values.ContainsKey("lbGSAFixMode"))
{
values.Add(new UAVParameter("lbGSAFixMode", 0, null, null, urate));
}
if (!values.ContainsKey("lbGSAPRNs"))
{
values.Add(new UAVParameter("lbGSAPRNs", 0, null, null, urate));
}
if (!values.ContainsKey("lbGSAPDOP"))
{
values.Add(new UAVParameter("lbGSAPDOP", 0, null, null, urate));
}
if (!values.ContainsKey("lbGSAHDOP"))
{
values.Add(new UAVParameter("lbGSAHDOP", 0, null, null, urate));
}
if (!values.ContainsKey("lbGSAVDOP"))
{
values.Add(new UAVParameter("lbGSAVDOP", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMEHorError"))
{
values.Add(new UAVParameter("lbRMEHorError", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMEVerError"))
{
values.Add(new UAVParameter("lbRMEVerError", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMESphericalError"))
{
values.Add(new UAVParameter("lbRMESphericalError", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMEVerError"))
{
values.Add(new UAVParameter("lbRMEVerError", 0, null, null, urate));
}
if (!values.ContainsKey("lbRMEVerError"))
{
values.Add(new UAVParameter("lbRMEVerError", 0, null, null, urate));
}
}
/// <summary>
/// Responds to sentence events from GPS receiver
/// </summary>
private void GPSEventHandler(object sender, GPSHandler.GPSEventArgs e)
{
tbRawLog.Text += e.Sentence + "\r\n";
if (tbRawLog.Text.Length > 20 * 1024 * 1024) //20Kb maximum - prevents crash
{
tbRawLog.Text = tbRawLog.Text.Substring(10 * 1024 * 1024);
}
tbRawLog.ScrollToCaret(); //Scroll to bottom
switch (e.TypeOfEvent)
{
case GPSEventType.GPRMC: //Recommended minimum specific GPS/Transit data
if (GPS.HasGPSFix) //Is a GPS fix available?
{
//lbRMCPosition.Text = GPS.GPRMC.Position.ToString("#.000000");
lbRMCPosition.Text = GPS.GPRMC.Position.ToString("DMS");
double[] utmpos = TransformToUTM(GPS.GPRMC.Position);
lbRMCPositionUTM.Text = utmpos[0].ToString("#.0N ") + utmpos[0].ToString("#.0E") + " (Zone: " + utmpos[2] + ")";
lbRMCCourse.Text = GPS.GPRMC.Course.ToString();
lbRMCSpeed.Text = GPS.GPRMC.Speed.ToString() + " mph";
lbRMCTimeOfFix.Text = GPS.GPRMC.TimeOfFix.ToString("F");
lbRMCMagneticVariation.Text = GPS.GPRMC.MagneticVariation.ToString();
}
else
{
statusBar1.Text = "No fix";
lbRMCCourse.Text = "N/A";
lbRMCSpeed.Text = "N/A";
lbRMCTimeOfFix.Text = GPS.GPRMC.TimeOfFix.ToString();
}
break;
case GPSEventType.GPGGA: //Global Positioning System Fix Data
if(GPS.GPGGA.Position!=null)
lbGGAPosition.Text = GPS.GPGGA.Position.ToString("DM");
else
lbGGAPosition.Text = "";
lbGGATimeOfFix.Text = GPS.GPGGA.TimeOfFix.Hour.ToString() + ":" + GPS.GPGGA.TimeOfFix.Minute.ToString() + ":" + GPS.GPGGA.TimeOfFix.Second.ToString();
lbGGAFixQuality.Text = GPS.GPGGA.FixQuality.ToString();
lbGGANoOfSats.Text = GPS.GPGGA.NoOfSats.ToString();
lbGGAAltitude.Text = GPS.GPGGA.Altitude.ToString() + " " + GPS.GPGGA.AltitudeUnits;
lbGGAHDOP.Text = GPS.GPGGA.Dilution.ToString();
lbGGAGeoidHeight.Text = GPS.GPGGA.HeightOfGeoid.ToString();
lbGGADGPSupdate.Text = GPS.GPGGA.DGPSUpdate.ToString();
lbGGADGPSID.Text = GPS.GPGGA.DGPSStationID;
break;
case GPSEventType.GPGLL: //Geographic position, Latitude and Longitude
lbGLLPosition.Text = GPS.GPGLL.Position.ToString();
lbGLLTimeOfSolution.Text = (GPS.GPGLL.TimeOfSolution.HasValue ? GPS.GPGLL.TimeOfSolution.Value.Hours.ToString() + ":" + GPS.GPGLL.TimeOfSolution.Value.Minutes.ToString() + ":" + GPS.GPGLL.TimeOfSolution.Value.Seconds.ToString() : "");
lbGLLDataValid.Text = GPS.GPGLL.DataValid.ToString();
break;
case GPSEventType.GPGSA: //GPS DOP and active satellites
if (GPS.GPGSA.Mode == 'A')
lbGSAMode.Text = "Auto";
else if (GPS.GPGSA.Mode == 'M')
lbGSAMode.Text = "Manual";
else lbGSAMode.Text = "";
lbGSAFixMode.Text = GPS.GPGSA.FixMode.ToString();
lbGSAPRNs.Text = "";
if(GPS.GPGSA.PRNInSolution.Count>0)
foreach (string prn in GPS.GPGSA.PRNInSolution)
lbGSAPRNs.Text += prn + " ";
else
lbGSAPRNs.Text += "none";
lbGSAPDOP.Text = GPS.GPGSA.PDOP.ToString() + " (" + DOPtoWord(GPS.GPGSA.PDOP) +")";
lbGSAHDOP.Text = GPS.GPGSA.HDOP.ToString() + " (" + DOPtoWord(GPS.GPGSA.HDOP) + ")";
lbGSAVDOP.Text = GPS.GPGSA.VDOP.ToString() + " (" + DOPtoWord(GPS.GPGSA.VDOP) + ")";
break;
case GPSEventType.GPGSV: //Satellites in view
if (NMEAtabs.TabPages[NMEAtabs.SelectedIndex].Text == "GPGSV") //Only update this tab when it is active
DrawGSV();
break;
case GPSEventType.PGRME: //Garmin proprietary sentences.
lbRMEHorError.Text = GPS.PGRME.EstHorisontalError.ToString();
lbRMEVerError.Text = GPS.PGRME.EstVerticalError.ToString();
lbRMESphericalError.Text = GPS.PGRME.EstSphericalError.ToString();
break;
case GPSEventType.TimeOut: //Serialport timeout.
statusBar1.Text = "Serialport timeout";
/*notification1.Caption = "GPS Serialport timeout";
notification1.InitialDuration = 5;
notification1.Text = "Check your settings and connection";
notification1.Critical = false;
notification1.Visible = true;
*/
break;
}
}
