/// <summary>
/// Write message to the ublox reciver.
/// </summary>
/// <param name="message"></param>
public bool WriteMessage(IMessageBase message)
{
byte[] messageArray = message.ToArray();
WriteReceiver(messageArray);
if (message.IsAcknowledged)
{
int acknowledgeKey = new { Class = 0x05, Id = 0x01, MessageClass = messageArray[2], MessageId = messageArray[3] }.GetHashCode();
var stopwatch = new Stopwatch();
stopwatch.Start();
do
{
if (Acknowlagements.ContainsKey(acknowledgeKey))
{
Acknowlagements.Remove(acknowledgeKey);
return(true);
}
else
{
Task.Delay(10).Wait();
}
} while (stopwatch.Elapsed < TimeSpan.FromSeconds(AcknowledgementTimeOut));
}
return(false);
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="args"></param>
private void OnMessageReceived(object sender, MessageReceivedEventArgs args)
{
// Mark connected true
if (!IsConnected)
{
IsConnected = true;
}
//Debug.WriteLine(ArrayExtensions.HexDump(args.Message));
if (args.MessageProtocol == MessageProtocol.UBX)
{
if (args.MessageType == typeof(GeodeticPosition))
{
GeodeticPosition message = (GeodeticPosition)args.MessageResult;
GeodeticSensorReading.Latitude = message.Latitude;
GeodeticSensorReading.Longitude = message.Longitude;
GeodeticSensorReading.TimeMillisOfWeek = (int)message.TimeMillisOfWeek;
GeodeticSensorReading.VerticalAccuracy = message.VerticalAccuracy;
GeodeticSensorReading.HorizontalAccuracy = message.HorizontalAccuracy;
GeodeticSensorReading.HeightAboveEllipsoid = message.HeightAboveEllipsoid;
GeodeticSensorReading.HeightAboveSeaLevel = message.HeightAboveSeaLevel;
// Fire reading changed event
GeodeticSensorChanged?.Invoke(this, GeodeticSensorReading);
}
else if (args.MessageType == typeof(Acknowledge))
{
int key = new { Class = args.Message[2], Id = args.Message[3], MessageClass = args.Message[6], MessageId = args.Message[7] }.GetHashCode();
// Add acknowlagement
Acknowlagements.Add(key, DateTime.Now);
}
else if (args.MessageType == typeof(NotAcknowledge))
{
//int key = new { Class = args.Message[2], Id = args.Message[3], MessageClass = args.Message[6], MessageId = args.Message[7] }.GetHashCode();
//// Add not acknowlagement
//_acknowlagements.Add(key, DateTime.Now);
}
else if (args.MessageType == typeof(ReceiverSoftware))
{
ReceiverSoftware message = (ReceiverSoftware)args.MessageResult;
SoftwareVersion = Encoding.ASCII.GetString(message.SoftwareVersion);
HardwareVersion = Encoding.ASCII.GetString(message.HardwareVersion);
}
}
}
