public RCResponseReceivedEventArgs(int txChID, RC_CODES_Enum rcCmdID, double pTime_sec, double snr_db, double value, double azimuth)
{
TxChID = txChID;
RCCmdID = rcCmdID;
PropTime_sec = pTime_sec;
SNR_db = snr_db;
Value = value;
Azimuth = azimuth;
}
private void PerformRCRequest()
{
if (isRCAutoQuery)
{
autoQueryIdx = (autoQueryIdx + 1) % autoQueryCodes.Length;
RC_CODES_Enum queryID = autoQueryCodes[autoQueryIdx];
Thread.Sleep(500);
if (port.RCRequestQuery(rcRxChannelID, rcTxChannelID, queryID))
{
OnTransactionStart();
}
}
}
private void RC_ASYNC_IN_Parse(object[] parameters)
{
try
{
// IC_D2H_RC_ASYNC_IN $PUWV5,rcCmdID,snr,[azimuth]
RC_CODES_Enum rcCmdID = (RC_CODES_Enum)(int)parameters[0];
double snr = doubleNullChecker(parameters[1]);
double azimuth = doubleNullChecker(parameters[2]);
RCAsyncInReceived.Rise(this, new RCAsyncInReceivedEventArgs(rcCmdID, snr, azimuth));
}
catch (Exception ex)
{
OnInfoEvent(ex);
}
}
private void RC_TIMEOUT_Parse(object[] parameters)
{
try
{
// IC_D2H_RC_TIMEOUT $PUWV4,txChID,rcCmdID
int txChID = (int)parameters[0];
RC_CODES_Enum rcCmdID = (RC_CODES_Enum)(int)parameters[1];
IsWaitingRemote = false;
RCTimeoutReceived.Rise(this, new RCTimeoutReceivedEventArgs(txChID, rcCmdID));
}
catch (Exception ex)
{
OnInfoEvent(ex);
}
}
public bool RCRequestQuery(int txChID, int rxChID, RC_CODES_Enum cmdID)
{
if (!IsWaitingRemote)
{
var msg = NMEAParser.BuildProprietarySentence(ManufacturerCodes.UWV, "2", new object[]
{
txChID,
rxChID,
(int)cmdID
});
return(TrySend(msg, ICs.IC_H2D_RC_REQUEST));
}
else
{
OnInfoEvent("Unable to perform a remote request due to waiting for previous");
return(false);
}
}
private void CM_HEARD(object[] parameters)
{
// $PUWVL,b_id,b_lat,b_lon,b_toa_s,data_ID,dataValue,msr_dB
try
{
int b_id = intNullChecker(parameters[0]);
double b_lat = doubleNullChecker(parameters[1]);
double b_lon = doubleNullChecker(parameters[2]);
double b_toa_s = doubleNullChecker(parameters[3]);
RC_CODES_Enum dataID = (RC_CODES_Enum)intNullChecker(parameters[4]);
double dataValue = doubleNullChecker(parameters[5]);
double msr_dB = doubleNullChecker(parameters[6]);
throw new NotImplementedException();
}
catch (Exception ex)
{
OnInfoEvent(ex);
}
}
private void RC_RESPONSE_Parse(object[] parameters)
{
try
{
// IC_D2H_RC_RESPONSE $PUWV3,txChID,rcCmdID,propTime_seс,snr,[value],[azimuth]
int txChID = (int)parameters[0];
RC_CODES_Enum rcCmdID = (RC_CODES_Enum)(int)parameters[1];
double pTime = (double)parameters[2];
double snr = (double)parameters[3];
double value = doubleNullChecker(parameters[4]);
double azimuth = doubleNullChecker(parameters[5]);
IsWaitingRemote = false;
RCResponseReceived.Rise(this, new RCResponseReceivedEventArgs(txChID, rcCmdID, pTime, snr, value, azimuth));
}
catch (Exception ex)
{
OnInfoEvent(ex);
}
}
public RCTimeoutReceivedEventArgs(int txChID, RC_CODES_Enum rcCmdID)
{
TxChID = txChID;
RCCmdID = rcCmdID;
}
public RCAsyncInReceivedEventArgs(RC_CODES_Enum rcCmdID, double snr_db, double azimuth)
{
RCCmdID = rcCmdID;
SNR_db = snr_db;
Azimuth = azimuth;
}
public RCAsyncInReceivedEventArgs(RC_CODES_Enum rcCmdID, double snr_db)
: this(rcCmdID, snr_db, double.NaN)
{
}
public RCResponseReceivedEventArgs(int txChID, RC_CODES_Enum rcCmdID, double pTime_sec, double snr_db, double value)
: this(txChID, rcCmdID, pTime_sec, snr_db, value, double.NaN)
{
}
private void inPort_NewNMEAMessage(object sender, NewNMEAMessageEventArgs e)
{
NMEASentence parsedSentence = null;
bool isParsed = false;
logger.Write(string.Format("{0} >> {1}", inPort.PortName, e.Message));
try
{
parsedSentence = NMEAParser.Parse(e.Message);
isParsed = true;
}
catch (Exception ex)
{
ProcessException(ex, false);
}
if (isParsed && (parsedSentence is NMEAProprietarySentence))
{
NMEAProprietarySentence pResult = (parsedSentence as NMEAProprietarySentence);
if ((pResult.Manufacturer == ManufacturerCodes.VLB) &&
(pResult.SentenceIDString == "L"))
{
// $PVLBL,ownLat,ownLon,ownDepth,ownBatV,targetDataID,targetDataValue,propagationTime,MSR
double ownLat = doubleNullChecker(pResult.parameters[0]);
double ownLon = doubleNullChecker(pResult.parameters[1]);
double ownDpt = doubleNullChecker(pResult.parameters[2]);
double ownBatV = doubleNullChecker(pResult.parameters[3]);
RC_CODES_Enum dataID = (RC_CODES_Enum)Enum.ToObject(typeof(RC_CODES_Enum), intNullChecker(pResult.parameters[4]));
double dataVal = doubleNullChecker(pResult.parameters[5]);
double pTime = doubleNullChecker(pResult.parameters[6]);
double msr = doubleNullChecker(pResult.parameters[7]);
if ((!double.IsNaN(ownLat)) && (!double.IsNaN(ownLon)))
{
ownLatitude.Value = ownLat;
ownLongitude.Value = ownLon;
if (!is_g_updated)
{
g = UCNLPhysics.PHX.PHX_GravityConstant_Calc(ownLat);
is_g_updated = true;
logger.Write(string.Format(CultureInfo.InvariantCulture, "Gravity constant updated: {0:F04} m/s^2", g));
}
}
if (!double.IsNaN(ownDpt))
{
ownDepth.Value = ownDpt;
}
if (!double.IsNaN(ownBatV))
{
ownBatteryVoltage.Value = ownBatV;
}
if (!double.IsNaN(pTime))
{
targetPTime.Value = pTime;
}
if (!double.IsNaN(msr))
{
targetMSR.Value = msr;
}
if (!double.IsNaN(dataVal))
{
if (dataID == RC_CODES_Enum.RC_DPT_GET)
{
targetDepth.Value = dataVal;
}
else if (dataID == RC_CODES_Enum.RC_TMP_GET)
{
targetTemperature.Value = dataVal;
TryUpdateSoundSpeed();
}
else if (dataID == RC_CODES_Enum.RC_BAT_V_GET)
{
targetBatVoltage.Value = dataVal;
}
}
if (!double.IsNaN(ownLat) && !double.IsNaN(ownLon) && !double.IsNaN(ownDpt))
{
if (!double.IsNaN(pTime) &&
targetDepth.IsInitializedAndNotObsolete)
{
vlblCore.TargetDepth = targetDepth.Value;
vlblCore.AddMeasurement(new VLBLTOAMeasurement(ownLat, ownLon, ownDpt, pTime * soundSpeedMps));
UpdateTrack("Measurements", new GeoPoint3D(ownLat, ownLon, ownDpt));
}
else
{
UpdateTrack("Rover", new GeoPoint3D(ownLat, ownLon, ownDpt));
}
}
}
}
}
