// Constructor, Initializes a new instance of the "FormGPS" class.
public FormGPS()
{
//winform initialization
InitializeComponent();
//build the gesture structures
SetupStructSizes();
//create the world grid
worldGrid = new CWorldGrid(this);
//our vehicle made with gl object and pointer of mainform
vehicle = new CVehicle(this);
//create a new section and set left and right positions
//created whether used or not, saves restarting program
section = new CSection[MAXSECTIONS];
for (int j = 0; j < MAXSECTIONS; j++)
{
section[j] = new CSection(this);
}
//our NMEA parser
pn = new CNMEA(this);
//create the ABLine instance
ABLine = new CABLine(this);
//new instance of contour mode
ct = new CContour(this);
//new instance of contour mode
curve = new CABCurve(this);
//module communication
mc = new CModuleComm(this);
//nmea simulator built in.
sim = new CSim(this);
//all the autosteer objects
ast = new CAutoSteer(this);
//all the attitude, heading, roll, pitch reference system
ahrs = new CAHRS(this);
//fieldData all in one place
fd = new CFieldData(this);
//resource for gloabal language strings
_rm = new ResourceManager("ABC.gStr", Assembly.GetExecutingAssembly());
// Add Message Event handler for Form decoupling from client socket thread
updateRTCM_DataEvent = new UpdateRTCM_Data(OnAddMessage);
// Access to workswitch functionality
workSwitch = new CWorkSwitch(this);
}
//set up connection to Caster
public void StartNTRIP()
{
broadCasterIP = Properties.Settings.Default.setNTRIP_casterIP; //Select correct Address
broadCasterPort = Properties.Settings.Default.setNTRIP_casterPort; //Select correct port (usually 80 or 2101)
mount = Properties.Settings.Default.setNTRIP_mount; //Insert the correct mount
username = Properties.Settings.Default.setNTRIP_userName; //Insert your username!
password = Properties.Settings.Default.setNTRIP_userPassword; //Insert your password!
toUDP_Port = Properties.Settings.Default.setNTRIP_sendToUDPPort; //send rtcm to which udp port
sendGGAInterval = Properties.Settings.Default.setNTRIP_sendGGAInterval; //how often to send fixes
if (tmr != null)
{
tmr.Dispose();
}
if (sendGGAInterval > 0)
{
this.tmr = new System.Windows.Forms.Timer();
this.tmr.Interval = sendGGAInterval * 1000;
this.tmr.Tick += new EventHandler(NTRIPtick);
}
//toUDP_Port = Properties.Settings.Default.setNTRIP_sendToUDPPort; //send rtcm to which udp port
//sendGGAInterval = Properties.Settings.Default.setNTRIP_sendGGAInterval; //how often to send fixes
//// Add Message Event handler for Form decoupling from client socket thread
updateRTCM_DataEvent = new UpdateRTCM_Data(OnAddMessage);
try
{
// Close the socket if it is still open
if (clientSocket != null && clientSocket.Connected)
{
clientSocket.Shutdown(SocketShutdown.Both);
System.Threading.Thread.Sleep(100);
clientSocket.Close();
}
// Create the socket object
clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
// Define the Server address and port
IPEndPoint epServer = new IPEndPoint(IPAddress.Parse(broadCasterIP), broadCasterPort);
// Connect to server non-Blocking method
clientSocket.Blocking = false;
AsyncCallback onconnect = new AsyncCallback(OnConnect);
clientSocket.BeginConnect(epServer, onconnect, clientSocket);
}
catch (Exception)
{
TimedMessageBox(1000, "NTRIP Not Connected, Retrying", " At Socket Connect ");
ReconnectRequest();
return;
}
//make sure connection is made
System.Threading.Thread.Sleep(1000);
//send the authourization info for Broadcaster
// Check we are connected
if (clientSocket == null || !clientSocket.Connected)
{
TimedMessageBox(2000, "NTRIP Not Connected", " At the StartNTRIP() ");
ReconnectRequest();
return;
}
// Read the message from the text box and send it
try
{
string auth = ToBase64(username + ":" + password);
BuildGGA();
GGASentence = sbGGA.ToString();
// Convert to byte array and send.
//string str = "GET /SRG HTTP / 1.1\r\nUser - Agent: NTRIP LefebureNTRIPClient/ 20131124\r\nAccept: */*\r\nConnection: close\r\n";
string str = "GET /" + mount + " HTTP/1.1\r\n";
str += "User-Agent: NTRIP LefebureNTRIPClient/20131124\r\n";
str += "Authorization: Basic " + auth + "\r\n"; //This line can be removed if no authorization is needed
str += GGASentence; //this line can be removed if no position feedback is needed
str += "Accept: */*\r\nConnection: close\r\n";
str += "\r\n";
Byte[] byteDateLine = Encoding.ASCII.GetBytes(str.ToCharArray());
clientSocket.Send(byteDateLine, byteDateLine.Length, 0);
//enable to periodically send GGA sentence to server.
if (sendGGAInterval > 0)
{
tmr.Enabled = true;
System.Threading.Thread.Sleep(500);
//send GGA once again
SendGGA();
}
//say its connected
isNTRIP_Connected = true;
isNTRIP_Starting = false;
btnStartStopNtrip.Text = "Stop";
}
catch (Exception)
{
//MessageBox.Show(this, ex.Message, "Send Message Failed!");
}
}
