public static GPGGAString ProcessGPGGA(string data)
{
GPGGAString GPGGA = new GPGGAString();
try
{
//skip the message type
data = data.Substring(data.IndexOf(',') + 1);
string[] fields = Regex.Split(data, ",");
GPGGA.Hour = Convert.ToInt32(fields[0].Substring(0, 2));
GPGGA.Minute = Convert.ToInt32(fields[0].Substring(2, 2));
GPGGA.Second = Convert.ToInt32(fields[0].Substring(4, 2));
GPGGA.Latitude = Convert.ToDouble(fields[1]) / 100;
if (fields[2] == "S")
{
GPGGA.LatitudeHemisphere = CompassDirection.South;
}
else
{
GPGGA.LatitudeHemisphere = CompassDirection.North;
}
GPGGA.Longitude = Convert.ToDouble(fields[3]) / 100;
if (fields[4] == "E")
{
GPGGA.LatitudeHemisphere = CompassDirection.East;
}
else
{
GPGGA.LatitudeHemisphere = CompassDirection.West;
}
GPGGA.GPSQuality = (GPSQuality)Convert.ToUInt32(fields[5]);
GPGGA.NumSats = Convert.ToInt32(fields[6]);
GPGGA.HDOP = Convert.ToDouble(fields[7]);
GPGGA.Altitude = Convert.ToDouble(fields[8]);
}
catch (Exception e)
{
}
return(GPGGA);
}
public static GPGGAString ProcessGPGGA(string data)
{
GPGGAString GPGGA = new GPGGAString();
try
{
//skip the message type
data = data.Substring(data.IndexOf(',')+1);
string[] fields = Regex.Split(data, ",");
GPGGA.Hour = Convert.ToInt32(fields[0].Substring(0, 2));
GPGGA.Minute = Convert.ToInt32(fields[0].Substring(2, 2));
GPGGA.Second = Convert.ToInt32(fields[0].Substring(4, 2));
GPGGA.Latitude = Convert.ToDouble(fields[1]) / 100;
if (fields[2] == "S")
GPGGA.LatitudeHemisphere = CompassDirection.South;
else
GPGGA.LatitudeHemisphere = CompassDirection.North;
GPGGA.Longitude = Convert.ToDouble(fields[3]) / 100;
if (fields[4] == "E")
GPGGA.LatitudeHemisphere = CompassDirection.East;
else
GPGGA.LatitudeHemisphere = CompassDirection.West;
GPGGA.GPSQuality = (GPSQuality)Convert.ToUInt32(fields[5]);
GPGGA.NumSats = Convert.ToInt32(fields[6]);
GPGGA.HDOP = Convert.ToDouble(fields[7]);
GPGGA.Altitude = Convert.ToDouble(fields[8]);
}
catch (Exception e)
{
}
return GPGGA;
}
void worker_DoWork(object sender, DoWorkEventArgs e)
{
while (!worker.CancellationPending)
{
if (locked)
{
continue;
}
locked = true;
byte[] buffer = new byte[256];
this.tcpClient.Client.Receive(buffer);
System.Text.UTF8Encoding encoding = new System.Text.UTF8Encoding();
string message = encoding.GetString(buffer).Trim();
//super super amazingly crappy 'parsing' of the string. Please don't ever use this. Just for testing quickly...
if (message.Contains("$GPGGA"))
{
try
{
message = message.Substring(message.IndexOf("$GPGGA"), 61);
GPGGAString data = NMEA.ProcessGPGGA(message);
//at some point should integrate gyro/accelerometer to get pitch/yaw/roll information
PositionData position = new PositionData(data.Longitude, data.Latitude, data.Altitude, 0, 0, 0);
this.LastPosition = position;
if (this.started)
{
this.OnPositionRecieved(position);
}
}
catch (Exception ex)
{
}
}
locked = false;
}
}
