/// <summary>
/// Initializes a new instance of the <see cref="Rmc"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Rmc(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 11)
{
throw new ArgumentException("Invalid GPRMC", "message");
}
if (message[8].Length == 6 && message[0].Length >= 6)
{
FixTime = new DateTime(int.Parse(message[8].Substring(4, 2), CultureInfo.InvariantCulture) + 2000,
int.Parse(message[8].Substring(2, 2), CultureInfo.InvariantCulture),
int.Parse(message[8].Substring(0, 2), CultureInfo.InvariantCulture),
int.Parse(message[0].Substring(0, 2), CultureInfo.InvariantCulture),
int.Parse(message[0].Substring(2, 2), CultureInfo.InvariantCulture),
0, DateTimeKind.Utc).AddSeconds(double.Parse(message[0].Substring(4), CultureInfo.InvariantCulture));
}
Active = (message[1] == "A");
Latitude = NmeaMessage.StringToLatitude(message[2], message[3]);
Longitude = NmeaMessage.StringToLongitude(message[4], message[5]);
Speed = NmeaMessage.StringToDouble(message[6]);
Course = NmeaMessage.StringToDouble(message[7]);
MagneticVariation = NmeaMessage.StringToDouble(message[9]);
if (!double.IsNaN(MagneticVariation) && message[10] == "W")
{
MagneticVariation *= -1;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Rmb"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Rmb(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 13)
{
throw new ArgumentException("Invalid GPRMB", "message");
}
Status = message[0] == "A" ? DataStatus.Ok : Rmb.DataStatus.Warning;
double tmp;
if (double.TryParse(message[1], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
CrossTrackError = tmp;
if (message[2] == "L") //Steer left
{
CrossTrackError *= -1;
}
}
else
{
CrossTrackError = double.NaN;
}
if (message[3].Length > 0)
{
OriginWaypointId = int.Parse(message[3], CultureInfo.InvariantCulture);
}
if (message[3].Length > 0)
{
DestinationWaypointId = int.Parse(message[4], CultureInfo.InvariantCulture);
}
DestinationLatitude = NmeaMessage.StringToLatitude(message[5], message[6]);
DestinationLongitude = NmeaMessage.StringToLongitude(message[7], message[8]);
if (double.TryParse(message[9], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
RangeToDestination = tmp;
}
else
{
RangeToDestination = double.NaN;
}
if (double.TryParse(message[10], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
TrueBearing = tmp;
}
else
{
TrueBearing = double.NaN;
}
if (double.TryParse(message[11], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
Velocity = tmp;
}
else
{
Velocity = double.NaN;
}
Arrived = message[12] == "A";
}
/// <summary>
/// Initializes a new instance of the <see cref="Gns"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Gns(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 12)
{
throw new ArgumentException("Invalid GNS", "message");
}
FixTime = StringToTimeSpan(message[0]);
Latitude = NmeaMessage.StringToLatitude(message[1], message[2]);
Longitude = NmeaMessage.StringToLongitude(message[3], message[4]);
if (message[5].Length > 0)
{
GpsModeIndicator = ParseModeIndicator(message[5][0]);
}
if (message[5].Length > 1)
{
GlonassModeIndicator = ParseModeIndicator(message[5][1]);
}
if (message[5].Length > 2)
{
FutureModeIndicator = message[5].Skip(2).Select(t => ParseModeIndicator(t)).ToArray();
}
else
{
FutureModeIndicator = new Mode[] { }
};
NumberOfSatellites = int.Parse(message[6], CultureInfo.InvariantCulture);
Hdop = NmeaMessage.StringToDouble(message[7]);
OrhometricHeight = NmeaMessage.StringToDouble(message[8]);
GeoidalSeparation = NmeaMessage.StringToDouble(message[9]);
var timeInSeconds = StringToDouble(message[10]);
if (!double.IsNaN(timeInSeconds))
{
TimeSinceLastDgpsUpdate = TimeSpan.FromSeconds(timeInSeconds);
}
else
{
TimeSinceLastDgpsUpdate = TimeSpan.MaxValue;
}
if (message[11].Length > 0)
{
DgpsStationId = message[11];
}
if (message.Length > 12)
{
switch (message[12])
{
case "S": Status = NavigationalStatus.Safe; break;
case "C": Status = NavigationalStatus.Caution; break;
case "U": Status = NavigationalStatus.Unsafe; break;
case "V":
default: Status = NavigationalStatus.NotValid; break;
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Vtg"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Vtg(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 7)
{
throw new ArgumentException("Invalid Gpvtg", "message");
}
TrueCourseOverGround = NmeaMessage.StringToDouble(message[0]);
MagneticCourseOverGround = NmeaMessage.StringToDouble(message[2]);
SpeedInKnots = NmeaMessage.StringToDouble(message[4]);
SpeedInKph = NmeaMessage.StringToDouble(message[6]);
}
/// <summary>
/// Initializes a new instance of the <see cref="Gst"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Gst(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 8)
{
throw new ArgumentException("Invalid GPGST", "message");
}
FixTime = StringToTimeSpan(message[0]);
Rms = NmeaMessage.StringToDouble(message[1]);
SemiMajorError = NmeaMessage.StringToDouble(message[2]);
SemiMinorError = NmeaMessage.StringToDouble(message[3]);
ErrorOrientation = NmeaMessage.StringToDouble(message[4]);
SigmaLatitudeError = NmeaMessage.StringToDouble(message[5]);
SigmaLongitudeError = NmeaMessage.StringToDouble(message[6]);
SigmaHeightError = NmeaMessage.StringToDouble(message[7]);
}
private void OnMessageReceived(Nmea.NmeaMessage msg)
{
if (msg == null)
{
return;
}
Nmea.NmeaMessage[] messageParts = null;
if (msg is IMultiPartMessage multi)
{
string messageType = msg.MessageType.Substring(2); //We don't care about the two first characters. Ie GPGSV, GLGSV, GAGSV etc are all part of the same multi-part message
if (MultiPartMessageCache.ContainsKey(messageType))
{
var dic = MultiPartMessageCache[messageType];
if (dic.ContainsKey(multi.MessageNumber - 1) && !dic.ContainsKey(multi.MessageNumber))
{
dic[multi.MessageNumber] = msg;
}
else //Something is out of order. Clear cache
{
MultiPartMessageCache.Remove(messageType);
}
}
else if (multi.MessageNumber == 1)
{
MultiPartMessageCache[messageType] = new Dictionary <int, Nmea.NmeaMessage>(multi.TotalMessages);
MultiPartMessageCache[messageType][1] = msg;
}
if (MultiPartMessageCache.ContainsKey(messageType))
{
var dic = MultiPartMessageCache[messageType];
if (dic.Count == multi.TotalMessages) //We have a full list
{
MultiPartMessageCache.Remove(messageType);
messageParts = dic.Values.ToArray();
}
}
}
MessageReceived?.Invoke(this, new NmeaMessageReceivedEventArgs(msg, messageParts));
}
internal NmeaMessageReceivedEventArgs(Nmea.NmeaMessage message, IReadOnlyList <Nmea.NmeaMessage> messageParts)
{
Message = message;
MessageParts = messageParts;
}
