public override SEVData ParseData(CodedInputStream serializedData)
{
Stopwatch stopWatch = new Stopwatch();
stopWatch.Start();
SEVData data = base.ParseData(serializedData);
stopWatch.Stop();
SEVDataModel.DiagnosticsModel.MessageParsingTimeMilliseconds = (double)stopWatch.Elapsed.Ticks / (double)TimeSpan.TicksPerMillisecond;
return(data);
}
public virtual bool ProcessData(SEVData data)
{
return(false);
}
public override bool ProcessData(SEVData data)
{
try
{
Stopwatch stopWatch = new Stopwatch();
stopWatch.Start();
if (data != null)
{
if (data.LeftImage != null)
{
SEVDataModel.LeftImageWriteableBitmap = ImageConverter.ConvertToWrittableBitmap(data.LeftImage);
}
if (data.RightImage != null)
{
SEVDataModel.RightImageWriteableBitmap = ImageConverter.ConvertToWrittableBitmap(data.RightImage);
}
if (data.PointCloud != null)
{
SEVDataModel.PointGeometry3D = PointCloudConverter.ConvertToPointGeometry3D(data.PointCloud);
}
if (data.NavSatFix != null)
{
SEVDataModel.GNSSModel.Latitude = data.NavSatFix.Latitude;
SEVDataModel.GNSSModel.Longitude = data.NavSatFix.Longitude;
SEVDataModel.GNSSModel.Altitude = data.NavSatFix.Altitude;
if (data.NavSatFix.Status != null)
{
switch (data.NavSatFix.Status.Status)
{
case -1:
{
SEVDataModel.GNSSModel.Status = "NO_FIX";
break;
}
case 0:
{
SEVDataModel.GNSSModel.Status = "FIX";
break;
}
case 1:
{
SEVDataModel.GNSSModel.Status = "SBAS_FIX";
break;
}
case 2:
{
SEVDataModel.GNSSModel.Status = "GBAS_FIX";
break;
}
default:
{
SEVDataModel.GNSSModel.Status = "Other";
break;
}
}
switch (data.NavSatFix.Status.Service)
{
case 1:
{
SEVDataModel.GNSSModel.Service = "GPS";
break;
}
case 2:
{
SEVDataModel.GNSSModel.Service = "GLONASS";
break;
}
case 4:
{
SEVDataModel.GNSSModel.Service = "COMPASS";
break;
}
case 8:
{
SEVDataModel.GNSSModel.Service = "GALILEO";
break;
}
default:
{
SEVDataModel.GNSSModel.Service = "Other";
break;
}
}
}
}
if (data.Odometry?.Pose?.Pose?.Position != null && data.Odometry?.Pose?.Pose?.Orientation != null)
{
SEVDataModel.StereoSystemPoseModel.X = data.Odometry.Pose.Pose.Position.X;
SEVDataModel.StereoSystemPoseModel.Y = data.Odometry.Pose.Pose.Position.Y;
SEVDataModel.StereoSystemPoseModel.Z = data.Odometry.Pose.Pose.Position.Z;
double heading, attitude, bank;
Geometry.QuaternionToEuler(
data.Odometry.Pose.Pose.Orientation.X,
data.Odometry.Pose.Pose.Orientation.Y,
data.Odometry.Pose.Pose.Orientation.Z,
data.Odometry.Pose.Pose.Orientation.W,
out heading, out attitude, out bank);
SEVDataModel.StereoSystemPoseModel.Heading = Geometry.RadianToDegree(heading);
SEVDataModel.StereoSystemPoseModel.Attitude = Geometry.RadianToDegree(attitude);
SEVDataModel.StereoSystemPoseModel.Bank = Geometry.RadianToDegree(bank);
}
}
stopWatch.Stop();
SEVDataModel.DiagnosticsModel.MessageProcessingTimeMilliseconds = (double)stopWatch.Elapsed.Ticks / (double)TimeSpan.TicksPerMillisecond;;
return(true);
}
catch (Exception)
{
return(false);
}
}
