private void OnAPLA(object[] parameters)
{
// Incoming APLA sentence received
// $PAPLA,bID,bLat,bLon,bDpt,bBat,bTOA
BaseIDs baseID = (BaseIDs)(int)parameters[0];
double bLat = doubleNullChecker(parameters[1]);
double bLon = doubleNullChecker(parameters[2]);
double bDpt = doubleNullChecker(parameters[3]);
bool bBat = Convert.ToBoolean(intNullChecker(parameters[4]));
double bTOA = doubleNullChecker(parameters[5]);
if ((baseID != BaseIDs.BASE_INVALID) &&
(!double.IsNaN(bLat) &&
(!double.IsNaN(bLon) &&
(!double.IsNaN(bDpt)))))
{
TrackUpdateHandler.Rise(this,
new TrackUpdateEventArgs(baseID.ToString().Replace('_', ' '),
new GeoPoint3DETm(bLat, bLon, bDpt, 0.0, GetTimeStamp()), double.NaN));
BaseBatStates[baseID].Value = bBat;
var bases = basesProcessor.ProcessBase(baseID, bLat, bLon, bDpt, bTOA);
if (bases != null)
{
TryLocate(bases);
}
}
}
public void MarkTargetLocation()
{
if (targetFixFlt.IsInitialized)
{
TrackUpdateHandler.Rise(this, new TrackUpdateEventArgs("Marked", targetFixFlt.Value, double.NaN));
}
}
private void nmeaListener_RMCSentenceReceivedHandler(object sender, RMCMessageEventArgs e)
{
if (e.IsValid)
{
if (isPrimaryGNSS_Set && (e.SourceID == primaryGNSS_SourceID))
{
primaryGNSSFixRMC.Value = e;
primaryGNSSFixLocalTS = DateTime.Now;
if (targetFix.IsInitialized)
{
UpdateTargetRelativeData();
}
SystemUpdate();
}
TrackUpdateHandler.Rise(this,
new TrackUpdateEventArgs(portDescrByHash[e.SourceID],
new GeoPoint3DETm(e.Latitude, e.Longitude, double.NaN, double.NaN, e.TimeFix), e.TrackTrue));
}
}
public APLLBLCore(Dictionary <string, SerialPortSettings> inPortSettings,
double radialErrorThreshold, double simplexSize, int courseEstimatorFifoSize, int trackFilterSize)
{
#region misc. initialization
primaryGNSSFixRMC = new AgingValue <RMCMessageEventArgs>(2, 10,
x => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°\r\nLON: {1:F06}°\r\nSPD: {2:F01} m/s (3:F01 km/h)\r\nTRK: {4:F01}°",
x.Latitude, x.Longitude, x.SpeedKmh / 3.6, x.SpeedKmh, x.TrackTrue));
meanWaterTemperatureC = new AgingValue <double>(10, 30, x => string.Format(CultureInfo.InvariantCulture, "MTW: {0:F01} °C", x));
targetFix = new AgingValue <GeoPoint3DETm>(3, 60,
x => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°\r\nLON: {1:F06}°\r\nRER: {2:F03} m",
x.Latitude, x.Longitude, x.RadialError));
targetFixFlt = new AgingValue <GeoPoint3DETm>(3, 60,
x => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°\r\nLON: {1:F06}°",
x.Latitude, x.Longitude));
targetCourse = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "CRS: {0:F01}°", x));
distanceToTarget = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "D2T: {0:F01} m", x));
forwardAzimuthToTarget = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "FAZ: {0:F01}°", x));
reverseAzimuthToTarget = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "RAZ: {0:F01}°", x));
BaseBatStates = new Dictionary <BaseIDs, AgingValue <bool> >();
BaseBatStates.Add(BaseIDs.BASE_1, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
BaseBatStates.Add(BaseIDs.BASE_2, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
BaseBatStates.Add(BaseIDs.BASE_3, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
BaseBatStates.Add(BaseIDs.BASE_4, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
dopState = new AgingValue <DOPState>(4, 10, x => x.ToString().Replace('_', ' ').ToUpperInvariant());
tbaQuality = new AgingValue <TBAQuality>(4, 10, x => x.ToString().Replace('_', ' ').ToUpperInvariant());
#endregion
#region pCore
trkFilter = new TrackFilter(trackFilterSize);
pCore = new PCore2D <GeoPoint3DT>(radialErrorThreshold, simplexSize, Algorithms.WGS84Ellipsoid, courseEstimatorFifoSize);
pCore.RadialErrorExeedsThrehsoldEventHandler += (o, e) => InfoEventHandler.Rise(this, new LogEventArgs(LogLineType.INFO, "WAYU Pinger location failed: radial error exeeds threshold"));
pCore.TargetLocationUpdatedExHandler += (o, e) =>
{
targetFix.Value = new GeoPoint3DETm(e.Location.Latitude, e.Location.Longitude, e.Location.Depth, e.Location.RadialError, e.TimeStamp);
targetCourse.Value = e.Course;
var fltTrk = trkFilter.Filter(e.Location.Latitude, e.Location.Longitude);
targetFixFlt.Value = new GeoPoint3DETm(fltTrk.Latitude, fltTrk.Longitude, e.Location.Depth, e.Location.RadialError, e.TimeStamp);
if (primaryGNSSFixRMC.IsInitializedAndNotObsolete)
{
UpdateTargetRelativeData();
}
InfoEventHandler.Rise(this, new LogEventArgs(LogLineType.INFO,
string.Format(CultureInfo.InvariantCulture, "WAYU Pinger located: {0}, Course: {1:F01}°",
targetFixFlt, e.Course)));
TrackUpdateHandler.Rise(this,
new TrackUpdateEventArgs("WAYU (RAW)", targetFix.Value, e.Course));
TrackUpdateHandler.Rise(this,
new TrackUpdateEventArgs("WAYU (FLT)", targetFixFlt.Value, e.Course));
if ((outPort != null) &&
(outPort.IsOpen))
{
WriteOutData(targetFixFlt.Value.Latitude, targetFixFlt.Value.Longitude, 0.0, targetFix.Value.RadialError,
targetCourse.Value, targetFix.Value.RadialError <= pCore.RadialErrorThreshold);
}
SystemUpdate();
};
pCore.BaseQualityUpdatedHandler += (o, e) =>
{
dopState.Value = e.DopState;
tbaQuality.Value = e.TBAState;
};
#endregion
#region basesProcessor
basesProcessor = new APLBaseProcessor(4, 2.0);
#endregion
#region NMEA
if (!nmeaSingleton)
{
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.APL);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.APL, "A", "x,x.x,x.x,x.x,x,x.x");
nmeaSingleton = true;
}
#endregion
#region Port dictionaries
portDescrByHash = new Dictionary <int, string>();
portNameByHash = new Dictionary <int, string>();
portHashByDescr = new Dictionary <string, int>();
portTimoutFlags = new Dictionary <int, bool>();
portTSByHash = new Dictionary <int, int>();
portDescrByHash.Add(emuID, emuIDstr);
portNameByHash.Add(emuID, emuIDstr);
portHashByDescr.Add(emuIDstr, emuID);
#endregion
#region nmeaListener
nmeaListener = new NMEAMultipleListener();
nmeaListener.LogEventHandler += (o, e) => InfoEventHandler.Rise(o, e);
nmeaListener.NMEAIncomingMessageReceived += (o, e) => InfoEventHandler.Rise(o,
new LogEventArgs(LogLineType.INFO,
string.Format("{0} ({1}) >> {2}", portNameByHash[e.SourceID], portDescrByHash[e.SourceID], e.Message)));
nmeaListener.RMCSentenceReceived += new EventHandler <RMCMessageEventArgs>(nmeaListener_RMCSentenceReceivedHandler);
nmeaListener.MTWSentenceReceived += new EventHandler <MTWMessageEventArgs>(nmeaListener_MTWSentenceReceivedHandler);
nmeaListener.NMEAProprietaryUnsupportedSentenceParsed += new EventHandler <NMEAUnsupportedProprietaryEventArgs>(nmeaListener_NMEAUnsupportedProprietaryReceivedHander);
#endregion
#region inPorts
List <SerialPortSettings> portsList = new List <SerialPortSettings>();
foreach (var inPort in inPortSettings)
{
int portHash = inPort.Value.PortName.GetHashCode();
portDescrByHash.Add(portHash, inPort.Key);
portNameByHash.Add(portHash, inPort.Value.PortName);
portHashByDescr.Add(inPort.Key, portHash);
portTimoutFlags.Add(portHash, false);
portTSByHash.Add(portHash, 0);
portsList.Add(inPort.Value);
}
inPorts = new SerialPortsPool(portsList.ToArray());
inPorts.DataReceived += (o, e) =>
{
int portKey = e.PortName.GetHashCode();
portTSByHash[portKey] = 0;
if (portTimoutFlags[portKey])
{
portTimoutFlags[portKey] = false;
PortStateChangedHandler.Rise(this, new EventArgs());
}
nmeaListener.ProcessIncoming(portKey, e.Data);
};
inPorts.ErrorReceived += (o, e) => InfoEventHandler.Rise(o,
new LogEventArgs(LogLineType.ERROR,
string.Format("{0} ({1}) >> {2}", e.PortName, portDescrByHash[e.PortName.GetHashCode()], e.EventType.ToString())));
#endregion
#region timer
timer = new PrecisionTimer();
timer.Mode = Mode.Periodic;
timer.Period = 100;
timer.Tick += (o, e) =>
{
if (IsOpen)
{
int[] keys = new int[portTSByHash.Count];
portTSByHash.Keys.CopyTo(keys, 0);
for (int i = 0; i < keys.Length; i++)
{
portTSByHash[keys[i]] += timerPeriodMS;
if (portTSByHash[keys[i]] > portsTimeoutMS)
{
portTSByHash[keys[i]] = 0;
if (!portTimoutFlags[keys[i]])
{
portTimoutFlags[keys[i]] = true;
PortStateChangedHandler.Rise(this, new EventArgs());
}
}
}
}
systemUpdateTS += timerPeriodMS;
if (systemUpdateTS > systemUpdateTimeoutMS)
{
SystemUpdate();
}
};
timer.Start();
#endregion
}
