public MainForm()
{
InitializeComponent();
var portNames = SerialPort.GetPortNames();
if (portNames.Length > 0)
{
#region Other
buoyAddrCbx.Items.AddRange(Enum.GetNames(typeof(RedBASE_Addr)));
BuoyAddr = RedBASE_Addr.REDBASE_ADDR_INVALID;
#endregion
#region NMEA
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.TNT);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "0", "x"); // ACK $PTNT0,errCode
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "4", "x,x"); // LOC_DATA_GET $PTNT4,dataID,reserved
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "5", "x,x"); // LOC_DATA_VAL $PTNT5,dataID,dataVal
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "!", "c--c,x,c--c,x,x,c--c"); // DEV_INFO $PTNT!,sys_moniker,sys_ver,dev_type,core_moniker,core_ver,dev_serial_num
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "7", "x"); // SETTINGS_GET $PTNT7,reserved
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "8", "x,x"); // SETTINGS_SET $PTNT8,buoyAddr,isInverted
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "9", "x,x"); // SETTINGS_VAL $PTNT9,buoyAddr,isInverted
#endregion
#region timer
timer = new PrecisionTimer();
timer.Period = 1000;
timer.Mode = Mode.Periodic;
timer.Tick += new EventHandler(timer_Tick);
timer.Started += new EventHandler(timer_Started);
timer.Stopped += new EventHandler(timer_Stopped);
#endregion
#region port
port = new NMEASerialPort(new SerialPortSettings("COM1", BaudRate.baudRate9600, Parity.None, DataBits.dataBits8, StopBits.One, Handshake.None));
port.NewNMEAMessage += new EventHandler <NewNMEAMessageEventArgs>(port_NewNMEAMessage);
port.PortError += new EventHandler <SerialErrorReceivedEventArgs>(port_Error);
port.IsRawModeOnly = false;
#endregion
portNameCbx.Items.AddRange(portNames);
portNameCbx.SelectedIndex = 0;
State = AppState.PORT_CLOSED;
}
else
{
State = AppState.PORT_ABSENT;
}
}
private void startUploadingBtn_Click(object sender, EventArgs e)
{
SetCtrlState(false);
startUploadingBtn.Enabled = false;
if ((nmeaPort != null) && (nmeaPort.IsOpen))
{
try
{
nmeaPort.Close();
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
nmeaPort = new NMEASerialPort(new SerialPortSettings(PortName, InitialBaudrate, Parity.None, DataBits.dataBits8, StopBits.One, Handshake.None));
nmeaPort.NewNMEAMessage += new EventHandler <NewNMEAMessageEventArgs>(nmeaPort_NewMessage);
nmeaPort.PortError += new EventHandler <SerialErrorReceivedEventArgs>(nmeaPort_PortError);
nmeaPort.RawDataReceived += new EventHandler <RawDataReceivedEventArgs>(nmeaPort_RawData);
try
{
nmeaPort.Open();
}
catch (Exception ex)
{
ProcessException(ex, true);
SetCtrlState(true);
startUploadingBtn.Enabled = true;
}
if (!startUploadingBtn.Enabled)
{
packetIdx = 0;
repeats = 0;
if (isEmptyDeviceChb.Checked)
{
action = UCNL_FW_ACTION.FW_UPDATE_INIT;
nmeaPort.IsRawModeOnly = true;
RequestTransferSize();
}
else
{
action = UCNL_FW_ACTION.REQUEST_DEVICE_INFO;
nmeaPort.IsRawModeOnly = false;
RequestDevInfo();
}
}
}
public void InitAUXGNSSPort(SerialPortSettings auxPortSettings)
{
if (auxGNSSPort == null)
{
auxGNSSPort = new NMEASerialPort(auxPortSettings);
auxGNSSPort.NewNMEAMessage += (o, e) =>
{
LogEvent.Rise(o, new LogEventArgs(LogLineType.INFO, string.Format("{0} (AUX) >> {1}", auxGNSSPort.PortName, e.Message)));
NMEAListener.ProcessIncoming(2, e.Message);
};
auxGNSSPort.PortError += (o, e) => LogEvent.Rise(o, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (AUX) >> {1}", auxGNSSPort.PortName, e.EventType.ToString())));
AUXGNSSUsed = true;
AuxGNSSBuoyID = BaseIDs.BASE_INVALID;
}
else
{
throw new InvalidOperationException("Auxilary GNSS port has been already initialized");
}
}
private bool CheckNextPort()
{
portSettings.PortName = portNames[curPortIdx];
bool result = false;
try
{
port = new NMEASerialPort(portSettings);
port.NewNMEAMessage = new EventHandler <NewNMEAMessageEventArgs>(port_NewNMEAMessage);
port.PortError = new EventHandler <SerialErrorReceivedEventArgs>(port_PortError);
port.Open();
var queryStr = NMEAParser.BuildProprietarySentence(ManufacturerCodes.TNT, "4", new object[] { (int)LocalDataIDs.LOC_DATA_DEVICE_INFO, 0 });
port.SendData(queryStr);
if (ConnectionEstablished != null)
{
ConnectionEstablished(this, new EventArgs());
}
timer.Start();
result = true;
}
catch (Exception ex)
{
if (port.IsOpen)
{
port.Close();
}
UnsubscribePort();
port.Dispose();
}
return(result);
}
public RWLT_Core(SerialPortSettings rwltPortSettings, double radialErrorThreshold, double simplexSize,
int courseEstimatorFIFOSize, int trkFilterFIFOSize)
{
#region parameters
var basesIDs = Enum.GetValues(typeof(BaseIDs));
foreach (BaseIDs baseID in basesIDs)
{
if (baseID != BaseIDs.BASE_INVALID)
{
BaseBatVoltages.Add(baseID, new AgingValue <double>(4, 10, svoltageFormatter));
BaseMSRs.Add(baseID, new AgingValue <double>(4, 10, msrFormatter));
}
}
HDOPState = new AgingValue <DOPState>(4, 10, x => x.ToString().ToUpperInvariant());
TBAState = new AgingValue <TBAQuality>(4, 10, x => x.ToString().Replace('_', ' ').ToUpperInvariant());
TargetLatitude = new AgingValue <double>(4, 10, latlonFormatter);
TargetLongitude = new AgingValue <double>(4, 10, latlonFormatter);
TargetLocationRadialError = new AgingValue <double>(4, 10, rerrFormatter);
TargetPressure = new AgingValue <double>(6, 10, prsFormatter);
TargetTemperature = new AgingValue <double>(60, 120, tempFormatter);
TargetBatVoltage = new AgingValue <double>(30, 120, svoltageFormatter);
TargetDepth = new AgingValue <double>(6, 10, dptdstFormatter);
TargetAlarm = new AgingValue <PingerCodeIDs>(600, 6000, pAlmFormatter);
DistanceToTarget = new AgingValue <double>(4, 10, dptdstFormatter);
ForwardAzimuthToTarget = new AgingValue <double>(4, 10, courseFormatter);
ReverseAzimuthToTarget = new AgingValue <double>(4, 10, courseFormatter);
TargetCourse = new AgingValue <double>(4, 10, courseFormatter);
AUXLatitude = new AgingValue <double>(4, 10, latlonFormatter);
AUXLongitude = new AgingValue <double>(4, 10, latlonFormatter);
AUXTrack = new AgingValue <double>(4, 10, courseFormatter);
AUXSpeed = new AgingValue <double>(4, 10, speedFormatter);
CEP = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
DRMS = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
DRMS2 = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
DRMS3 = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
#endregion
#region trkFilter
trkFilter = new TrackFilter(trkFilterFIFOSize);
#endregion
#region pCore
pCore = new PCore2D <GeoPoint3DT>(radialErrorThreshold, simplexSize, Algorithms.WGS84Ellipsoid, courseEstimatorFIFOSize);
pCore.RadialErrorExeedsThrehsoldEventHandler += new EventHandler(pCore_RadialErrorExeedsThresholdEventHandler);
pCore.TargetLocationUpdatedExHandler += new EventHandler <TargetLocationUpdatedExEventArgs>(pCore_TargetLocationUpdatedExEventHandler);
pCore.BaseQualityUpdatedHandler += new EventHandler <BaseQualityUpdatedEventArgs>(pCore_BaseQualityUpdatedEventHandler);
#endregion
#region basesProcessor
baseProcessor = new RWLT_BaseProcessor(4, 2.0);
#endregion
#region NMEA
if (!nmeaSingleton)
{
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.RWL);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.RWL, "A", "x,x.x,x.x,x.x,x.x,x,x.x,x.x,x.x");
}
#endregion
#region inPort
inPort = new NMEASerialPort(rwltPortSettings);
inPort.NewNMEAMessage += (o, e) =>
{
LogEvent.Rise(o, new LogEventArgs(LogLineType.INFO, string.Format("{0} (IN) >> {1}", inPort.PortName, e.Message)));
NMEAListener.ProcessIncoming(0, e.Message);
};
inPort.PortError += (o, e) => LogEvent.Rise(o, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (IN) >> {1}", inPort.PortName, e.EventType.ToString())));
#endregion
#region NMEAListener
NMEAListener = new NMEAMultipleListener();
NMEAListener.NMEAProprietaryUnsupportedSentenceParsed += new EventHandler <NMEAUnsupportedProprietaryEventArgs>(NMEAPSentenceReceived);
NMEAListener.RMCSentenceReceived += new EventHandler <RMCMessageEventArgs>(GNSS_RMCSentenceReceived);
#endregion
#region timer
timer = new PrecisionTimer();
timer.Period = 100;
timer.Tick += (o, e) =>
{
if (++systemUpdateTS > systemUpdateLimit)
{
systemUpdateTS = 0;
SystemUpdateEvent.Rise(this, new EventArgs());
}
if (inPort.IsOpen && (++inPortTimeoutTS > inPortTimeoutLimit))
{
inPortTimeoutTS = 0;
InPortTimeout = true;
LogEvent.Rise(this, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (IN) >> TIMEOUT", inPort.PortName)));
}
if (AUXGNSSUsed && auxGNSSPort.IsOpen && (++AUXGNSSTimeoutTS > AUXGNSSTimeoutLimit))
{
AUXGNSSTimeoutTS = 0;
AUXGNSSTimeout = true;
LogEvent.Rise(this, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (AUX) >> TIMEOUT", auxGNSSPort.PortName)));
}
};
timer.Start();
#endregion
statHelper = new List <GeoPoint>();
}
public uMCPNMEAPort(SerialPortSettings portSettings)
{
#region Parsers
parsers = new Dictionary <string, parserDelegate>()
{
{ "0", new parserDelegate(LACK_Parse) },
{ "2", new parserDelegate(RACK_Parse) },
{ "3", new parserDelegate(RPKT_Parse) },
{ "5", new parserDelegate(STAT_Parse) }
};
#endregion
#region port
port = new NMEASerialPort(portSettings);
port.PortError += (o, e) => { PortErrorEventHandler.Rise(this, e); };
port.NewNMEAMessage += new EventHandler <NewNMEAMessageEventArgs>(port_MessageReceived);
#endregion
#region nmea
if (!nmeaSingleton)
{
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.MCP);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.MCP, "0", "c--c,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.MCP, "1", "x,x,x,x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.MCP, "2", "h--h");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.MCP, "3", "h--h");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.MCP, "4", "h--h");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.MCP, "5", "x,x");
//#define IC_D2H_LACK '0' // $PMCP0,sentenceID,errCode - local command ACK
//#define IC_H2D_STRT '1' // $PMCP1,senderID,targetID,selectDefState,selIntMs,toutIntMs - restart protocol with specified params
//#define IC_D2H_RACK '2' // $PMCP2,h--h // sent packet acknowledged
//#define IC_D2H_RPKT '3' // $PMCP3,h--h // packet received
//#define IC_H2D_SPKT '4' // $PMCP4,h--h // send packet
//#define IC_D2H_STAT '5' // $PMCP5,state,select // protocol state changed
}
#endregion
#region timer
timer = new PrecisionTimer();
timer.Period = 1000;
timer.Mode = Mode.OneShot;
timer.Tick += (o, e) => { PortTimeoutEventHandler.Rise(this, new EventArgs()); IsWaiting = false; };
#endregion
#region other
dataToSend = new TSQueue <byte[]>(128, 128);
dataToSend.ItemEnqueued += (o, e) => { if (!isWaiting)
{
OnPortFree();
}
};
#endregion
}
public MainForm()
{
InitializeComponent();
#region Paths
DateTime startTime = DateTime.Now;
settingsFilePath = Path.ChangeExtension(Application.ExecutablePath, "settings");
logPath = Utils.GetDateDirTree(Application.ExecutablePath, "LOG", startTime);
logFilePath = Path.Combine(logPath, Utils.GetTimeFileName(startTime, "log"));
if (!Directory.Exists(logPath))
{
Directory.CreateDirectory(logPath);
}
#endregion
#region logger
logger = new TSLogProvider(logFilePath);
logger.WriteStart();
#endregion
#region settings
bool settingsOk = false;
settingsProvider = new SettingsProviderXML <SettingsContainer>();
settingsProvider.isSwallowExceptions = false;
try
{
settingsProvider.Load(settingsFilePath);
logger.Write(settingsProvider.Data.ToString());
}
catch (Exception ex)
{
logger.Write(ex);
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
if (!settingsOk)
{
try
{
settingsProvider.Save(settingsFilePath);
}
catch (Exception ex)
{
logger.Write(ex);
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
#endregion
#region UI
testMessageTxb.Text = GenerateTestString();
locDataIdCbx.Items.AddRange(Enum.GetNames(typeof(LOC_DATA_IDs)));
locDataIdCbx.SelectedIndex = 0;
List <string> subIDs = new List <string>();
for (int i = 0; i < Utils.MAX_SUBSCRIBERS; i++)
{
subIDs.Add(i.ToString());
}
txChIdCbx.Items.AddRange(subIDs.ToArray());
rxChIdCbx.Items.AddRange(subIDs.ToArray());
txChId = 0;
rxChId = 0;
mainSplit.Enabled = false;
#endregion
#region port
port = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.RedLINEPortName,
BaudRate.baudRate9600,
Parity.None,
DataBits.dataBits8,
StopBits.One,
Handshake.None));
port.NewNMEAMessage += new EventHandler <NewNMEAMessageEventArgs>(port_NewNMEAMessage);
port.PortError += new EventHandler <SerialErrorReceivedEventArgs>(port_Error);
port.RawDataReceived += new EventHandler <RawDataReceivedEventArgs>(port_RawData);
#endregion
#region timer
timer = new PrecisionTimer();
timer.Tick += new EventHandler(timer_Tick);
timer.Period = 1000;
#endregion
#region NMEA
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.TNT);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "!", "c--c,x,c--c,x,x,c--c"); // IC_D2H_DEV_INFO_VAL $PTNT!,sys_moniker,sys_ver,dev_type,core_moniker,core_ver,dev_serial_num
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "0", "x"); // IC_D2H_ACK $PTNT0,errCode
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "1", "x,x"); // IC_H2D_FLD_GET $PTNT1,fldID,reserved
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "2", "x,x"); // IC_H2D_FLD_SET $PTNT2,fldID,fldNewValue
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "3", "x,x"); // IC_D2H_FLD_VAL $PTNT3,fldID,fldValue
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "4", "x,x"); // IC_H2D_LOC_DATA_GET $PTNT4,locDataID,reserved
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "5", "x,x.x"); // IC_D2H_LOC_DATA_VAL $PTNT5,locDataID,locDataValue
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "6", "x,x"); // IC_H2D_ACT_INVOKE $PTNT6,actionID,reserved
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "7", "x,x,x,x"); // IC_H2D_SETTINGS_WRITE $PTNT7,rxChID,txChID,isRTX,isRvrs
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "8", "x"); // IC_H2D_SETTINGS_READ $PTNT8,reserved
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "9", "x,x,x,x"); // IC_D2H_SETTINGS $PTNT9,rxChID,txChID,isRTX,isRvrs
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "P", "x,x.x"); // IC_H2D_SETVAL $PTNTP,valueID,value
#endregion
}
public uWAVEPort(string portName, BaudRate portBaudrate)
{
#region NMEA init
if (!singleton)
{
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.UWV);
#region Common sentences
// IC_D2H_ACK $PUWV0,cmdID,errCode
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "0", "c--c,x");
// IC_H2D_SETTINGS_WRITE $PUWV1,rxChID,txChID,styPSU,isCmdMode,isACKOnTXFinished,gravityAcc
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "1", "x,x,x.x,x,x,x.x");
#endregion
#region Short code messages management sentences
// IC_H2D_RC_REQUEST $PUWV2,txChID,rxChID,rcCmdID
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "2", "x,x,x");
// IC_D2H_RC_RESPONSE $PUWV3,txChID,rcCmdID,propTime_seс,snr,[value],[azimuth]
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "3", "x,x,x.x,x.x,x.x,x.x");
// IC_D2H_RC_TIMEOUT $PUWV4,txChID,rcCmdID
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "4", "x,x");
// IC_D2H_RC_ASYNC_IN $PUWV5,rcCmdID,snr,[azimuth]
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "5", "x,x.x,x.x");
#endregion
#region Ambient data management sentences
// IC_H2D_AMB_DTA_CFG $PUWV6,isWriteInFlash,periodMs,isPrs,isTemp,isDpt,isBatV
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "6", "x,x,x,x,x,x");
// IC_D2H_AMB_DTA $PUWV7,prs_mBar,temp_C,dpt_m,batVoltage_V
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "7", "x.x,x.x,x.x,x.x");
#endregion
#region Device info
// IC_H2D_DINFO_GET $PUWV?,reserved
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "?", "x");
// IC_D2H_DINFO $PUWV!,serial_number,sys_moniker,sys_version,core_moniker [release],core_version,acBaudrate,rxChID,txChID,totalCh,styPSU,isPTS,isCmdModeDefault
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "!", "c--c,c--c,x,c--c,x,x.x,x,x,x,x.x,x,x");
#endregion
#region Packet mode
// IC_H2D_PT_SETTINGS_READ $PUWVD,reserved
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "D", "x");
// IC_D2H_PT_SETTINGS $PUWVE,isPTMode,ptAddress
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "E", "x,x");
// IC_H2H_PT_SETTINGS_WRITE $PUWVF,isSaveInFlash,isPTMode,ptAddress
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "F", "x,x,x");
// IC_H2D_PT_SEND $PUWVG,tareget_ptAddress,[maxTries],data
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "G", "x,x,h--h");
// IC_D2H_PT_FAILED $PUWVH,tareget_ptAddress,triesTaken,data
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "H", "x,x,h--h");
// IC_D2H_PT_DLVRD $PUWVI,tareget_ptAddress,triesTaken,data
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "I", "x,x,h--h");
// IC_D2H_PT_RCVD $PUWVJ,sender_ptAddress,data
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "J", "x,h--h");
#endregion
#region LBL-related
// IC_D2H_PT_HEARD $PUWVK,b_id,b_lat,b_lon,b_toa_s,sender_pt_Address,dataPacket
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "K", "x,x.x,x.x,x.x,x,h--h");
//IC_D2H_CM_HEARD $PUWVL,b_id,b_lat,b_lon,b_toa_s,data_ID,dataValue,msr_dB
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "L", "x,x.x,x.x,x.x,x,x.x,x.x");
#endregion
singleton = true;
}
#endregion
#region Parsers
parsers = new Dictionary <ICs, parserDelegate>()
{
{ ICs.IC_D2H_ACK, new parserDelegate(ACK_Parse) },
{ ICs.IC_D2H_AMB_DTA, new parserDelegate(AMB_DTA_Parse) },
{ ICs.IC_D2H_DINFO, new parserDelegate(DINFO_Parse) },
{ ICs.IC_D2H_RC_ASYNC_IN, new parserDelegate(RC_ASYNC_IN_Parse) },
{ ICs.IC_D2H_RC_RESPONSE, new parserDelegate(RC_RESPONSE_Parse) },
{ ICs.IC_D2H_RC_TIMEOUT, new parserDelegate(RC_TIMEOUT_Parse) },
{ ICs.IC_D2H_PT_SETTINGS, new parserDelegate(PT_SETTINGS_Parse) },
{ ICs.IC_D2H_PT_FAILED, new parserDelegate(PT_FAILED_Parse) },
{ ICs.IC_D2H_PT_DLVRD, new parserDelegate(PT_DLVRD_Parse) },
{ ICs.IC_D2H_PT_RCVD, new parserDelegate(PT_RCVD_Parse) },
{ ICs.IC_D2H_CM_HEARD, new parserDelegate(CM_HEARD) },
{ ICs.IC_D2H_PT_HEARD, new parserDelegate(PT_HEARD) },
};
#endregion
#region port
port = new NMEASerialPort(new SerialPortSettings(portName,
portBaudrate,
System.IO.Ports.Parity.None,
DataBits.dataBits8,
System.IO.Ports.StopBits.One,
System.IO.Ports.Handshake.None));
port.NewNMEAMessage += new EventHandler <NewNMEAMessageEventArgs>(port_NewNMEAMessageReceived);
port.PortError += new EventHandler <SerialErrorReceivedEventArgs>(port_ErrorReceived);
port.RawDataReceived = new EventHandler <RawDataReceivedEventArgs>(port_RawDataReceived);
#endregion
#region timer
timer = new PrecisionTimer();
timer.Mode = Mode.Periodic;
timer.Period = 1000;
timer.Tick += new EventHandler(timer_Tick);
#endregion
#region Misc.
InitDeviceInformation();
#endregion
}
public MainForm()
{
InitializeComponent();
this.Text = string.Format("{0}", Application.ProductName);
#region file names & paths
DateTime startTime = DateTime.Now;
settingsFileName = Path.ChangeExtension(Application.ExecutablePath, "settings");
logPath = Path.Combine(Path.GetDirectoryName(Application.ExecutablePath), "LOG");
logFileName = StrUtils.GetTimeDirTreeFileName(startTime, Application.ExecutablePath, "LOG", "log", true);
snapshotsPath = StrUtils.GetTimeDirTree(startTime, Application.ExecutablePath, "SNAPSHOTS", false);
#endregion
#region logger
loggerTextAddedEventHandler = new EventHandler <TextAddedEventArgs>(logger_TextAdded);
logger = new TSLogProvider(logFileName);
logger.TextAddedEvent += loggerTextAddedEventHandler;
logger.WriteStart();
#endregion
#region settings
logger.Write("Loading settings...");
settingsProvider = new SettingsProviderXML <SettingsContainer>();
settingsProvider.isSwallowExceptions = false;
try
{
settingsProvider.Load(settingsFileName);
}
catch (Exception ex)
{
ProcessException(ex, true);
}
logger.Write(settingsProvider.Data.ToString());
gtr_RemoteTimeout_S = Convert.ToInt32((GTR.MIN_REM_TOUT_MS / 1000) + 2 * (double)settingsProvider.Data.MaxDistance / 1500) + 1;
#endregion
#region NMEA
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.TNT);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "0", "x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "1", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "2", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "3", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "4", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "5", "x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "6", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "7", "x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "8", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "9", "x,x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "A", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "B", "x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "C", "x,x.x,x.x,x.x,x.x,x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "D", "x,x,x.x,x.x,x.x,x.x,x.x,x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "E", "x,x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "!", "c--c,x,c--c,x,x,c--c");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "O", "x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "P", "x,x.x");
/*
#define IC_D2H_ACK '0' // $PTNT0,errCode
#define IC_H2D_FLD_GET '1' // $PTNT1,fldID,reserved
#define IC_H2D_FLD_SET '2' // $PTNT2,fldID,fldNewValue
#define IC_D2H_FLD_VAL '3' // $PTNT3,fldID,fldValue
#define IC_H2D_LOC_DATA_GET '4' // $PTNT4,locDataID,reserved
#define IC_D2H_LOC_DATA_VAL '5' // $PTNT5,locDataID,locDataValue
#define IC_H2D_ACT_INVOKE '6' // $PTNT6,actionID,reserved
#define IC_H2D_LOC_DATA_SET '7' // $PTNT7,locDataID,locDataValue
#define IC_H2D_REM_SEND '8' // $PTNT8,targetAddr,codeMsg
#define IC_D2H_REM_RECEIVED '9' // $PTNT9,codeMsg,snrd,dpl
#define IC_H2D_REM_PING 'A' // $PTNTA,targetAddr,timeoutMs
#define IC_D2H_REM_TOUT 'B' // $PTNTB,targetAddr
#define IC_D2H_REM_PONG 'C' // $PTNTC,requestedAddr,snrd,dpl,pTime,[dst],[dpt],[tmp]
#define IC_D2H_REM_PONGEX 'D' // $PTNTD,requestedAddr,requestedCmd,receivedValue_decoded,snrd,dpl,pTime,[dst],[dpt],[tmp]
#define IC_H2D_REM_PINGEX 'E' // $PTNTE,targetAddr,requestedCmd,timeoutMs
#define IC_D2H_DEV_INFO_VAL '!' // $PTNT!,sys_moniker,sys_ver,dev_type,core_moniker,core_ver,dev_serial_num
#define IC_D2H_PRETMP_VAL 'O' // $PTNTO,pressure_mbar,temp_deg_c
#define IC_H2D_SETVAL 'P' // $PTNTP,valueID,value
*/
#endregion
#region other
gtrPortErrorEventHandler = new EventHandler <SerialErrorReceivedEventArgs>(gtrPort_Error);
gtrPortNewNMEAMessageEventHandler = new EventHandler <NewNMEAMessageEventArgs>(gtrPort_NewNMEAMessage);
gtrPort = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.GTRPortName, BaudRate.baudRate9600,
System.IO.Ports.Parity.None, DataBits.dataBits8, System.IO.Ports.StopBits.One, System.IO.Ports.Handshake.None));
gtrPort.IsRawModeOnly = false;
timerTickHandler = new EventHandler(timer_Tick);
timer = new PrecisionTimer();
timer.Mode = Mode.Periodic;
timer.Period = 1000;
timer.Tick += timerTickHandler;
timer.Start();
if (settingsProvider.Data.IsGNSSEmulator)
{
gnssEmulatorPort = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.GNSSEmulatorPortName, BaudRate.baudRate9600,
Parity.None, DataBits.dataBits8, StopBits.One, Handshake.None));
}
measurements = new Measurements(settingsProvider.Data.MeasurementsFIFOSize, settingsProvider.Data.BaseSize);
bLatitude = new AgingDouble("F06", "°");
bLongitude = new AgingDouble("F06", "°");
bTemperature = new AgingDouble("F01", "°C");
bDepth = new AgingDouble("F03", " m");
tTemperature = new AgingDouble("F01", "°C");
tDepth = new AgingDouble("F02", " m");
tLatitude = new AgingDouble("F06", "°");
tLongitude = new AgingDouble("F06", "°");
tRadialError = new AgingDouble("F03", " m");
tLocation = new List <GeoPoint3DWE>();
bLocation = new List <GeoPoint>();
tBestLocation = new GeoPoint3DWE();
tBestLocation.Latitude = double.NaN;
tBestLocation.Longitude = double.NaN;
tBestLocation.RadialError = double.NaN;
marinePlot.InitTracks(settingsProvider.Data.MeasurementsFIFOSize);
marinePlot.AddTrack("BOAT GNSS", Color.Blue, 2.0f, 2, settingsProvider.Data.MeasurementsFIFOSize, true);
marinePlot.AddTrack("BASE", Color.Salmon, 2.0f, 8, settingsProvider.Data.BaseSize, false);
marinePlot.AddTrack("MEASUREMENTS", Color.Green, 2.0f, 4, settingsProvider.Data.MeasurementsFIFOSize, false);
marinePlot.AddTrack("TARGET", Color.Black, 2.0f, 4, settingsProvider.Data.MeasurementsFIFOSize, false);
marinePlot.AddTrack("BEST", Color.Red, 2.0f, 8, 1, false);
#endregion
}
public uWAVEPort(string portName, BaudRate portBaudrate)
{
#region NMEA init
if (!singleton)
{
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.UWV);
// IC_D2H_ACK $PUWV0,cmdID,errCode
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "0", "c--c,x");
// IC_H2D_SETTINGS_WRITE $PUWV1,rxChID,txChID,styPSU,isCmdMode,isACKOnTXFinished,gravityAcc
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "1", "x,x,x.x,x,x,x.x");
// IC_H2D_RC_REQUEST $PUWV2,txChID,rxChID,rcCmdID
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "2", "x,x,x");
// IC_D2H_RC_RESPONSE $PUWV3,txChID,rcCmdID,propTime_seс,snr,[value],[azimuth]
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "3", "x,x,x.x,x.x,x.x,x.x");
// IC_D2H_RC_TIMEOUT $PUWV4,txChID,rcCmdID
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "4", "x,x");
// IC_D2H_RC_ASYNC_IN $PUWV5,rcCmdID,snr,[azimuth]
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "5", "x,x.x,x.x");
// IC_H2D_AMB_DTA_CFG $PUWV6,isWriteInFlash,periodMs,isPrs,isTemp,isDpt,isBatV
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "6", "x,x,x,x,x,x");
// IC_D2H_AMB_DTA $PUWV7,prs_mBar,temp_C,dpt_m,batVoltage_V
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "7", "x.x,x.x,x.x,x.x");
// IC_D2H_LBLA $PUWVA,baseID,baseLat,baseLon,baseDpt,baseBat,pingerData,TOAsecond
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "A", "x,x.x,x.x,x.x,x.x,x,x.x");
// IC_H2D_DINFO_GET $PUWV?,reserved
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "?", "x");
// IC_D2H_DINFO $PUWV!,serial_number,sys_moniker,sys_version,core_moniker [release],core_version,acBaudrate,rxChID,txChID,totalCh,styPSU,isPTS,isCmdModeDefault
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "!", "c--c,c--c,x,c--c,x,x.x,x,x,x,x.x,x,x");
singleton = true;
}
#endregion
#region Parsers
parsers = new Dictionary <ICs, parserDelegate>()
{
{ ICs.IC_D2H_ACK, new parserDelegate(ACK_Parse) },
{ ICs.IC_D2H_AMB_DTA, new parserDelegate(AMB_DTA_Parse) },
{ ICs.IC_D2H_DINFO, new parserDelegate(DINFO_Parse) },
{ ICs.IC_D2H_RC_ASYNC_IN, new parserDelegate(RC_ASYNC_IN_Parse) },
{ ICs.IC_D2H_RC_RESPONSE, new parserDelegate(RC_RESPONSE_Parse) },
{ ICs.IC_D2H_RC_TIMEOUT, new parserDelegate(RC_TIMEOUT_Parse) },
{ ICs.IC_D2H_LBLA, new parserDelegate(RC_LBLA_Parse) }
};
#endregion
#region port
port = new NMEASerialPort(new SerialPortSettings(portName,
portBaudrate,
System.IO.Ports.Parity.None,
DataBits.dataBits8,
System.IO.Ports.StopBits.One,
System.IO.Ports.Handshake.None));
port.NewNMEAMessage += new EventHandler <NewNMEAMessageEventArgs>(port_NewNMEAMessageReceived);
port.PortError += new EventHandler <SerialErrorReceivedEventArgs>(port_ErrorReceived);
port.RawDataReceived = new EventHandler <RawDataReceivedEventArgs>(port_RawDataReceived);
#endregion
#region timer
timer = new PrecisionTimer();
timer.Mode = Mode.Periodic;
timer.Period = 1000;
timer.Tick += new EventHandler(timer_Tick);
#endregion
#region Misc.
InitDeviceInformation();
#endregion
}
public MainForm()
{
InitializeComponent();
#region filenames
DateTime startTime = DateTime.Now;
settingsFileName = Path.ChangeExtension(Application.ExecutablePath, "settings");
loggerFileName = StrUtils.GetTimeDirTreeFileName(startTime, Application.ExecutablePath, "LOG", "log", true);
snapshotsPath = StrUtils.GetTimeDirTree(startTime, Application.ExecutablePath, "SNAPSHOTS", false);
#endregion
#region logger
logger = new TSLogProvider(loggerFileName);
logger.WriteStart();
logger.TextAddedEvent += (o, e) =>
{
if (geoPlotCartesian.InvokeRequired)
{
geoPlotCartesian.Invoke((MethodInvoker) delegate
{
geoPlotCartesian.AppendHistoryLine(e.Text);
geoPlotCartesian.Invalidate();
});
}
else
{
geoPlotCartesian.AppendHistoryLine(e.Text);
geoPlotCartesian.Invalidate();
}
};
#endregion
#region settingsProvider
settingsProvider = new SimpeSettingsProviderXML <SettingsContainer>();
settingsProvider.isSwallowExceptions = false;
try
{
settingsProvider.Load(settingsFileName);
}
catch (Exception ex)
{
ProcessException(ex, true);
}
settingsProvider.isSwallowExceptions = true;
logger.Write(settingsProvider.Data.ToString());
#endregion
#region NMEA
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.VLB);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.VLB, "L", "x.x,x.x,x.x,x.x,x,x.x,x.x,x.x");
#endregion
#region agingValues
targetLatitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°", x));
targetLongitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LON: {0:F06}°", x));
targetRadialError = new AgingValue <double>(3, 300, (x) => string.Format(CultureInfo.InvariantCulture, "RER: {0:F03} m", x));
targetTemperature = new AgingValue <double>(3, 600, (x) => string.Format(CultureInfo.InvariantCulture, "TMP: {0:F01} °C", x));
targetDepth = new AgingValue <double>(3, 60, (x) => string.Format(CultureInfo.InvariantCulture, "DPT: {0:F03} m", x));
targetBatVoltage = new AgingValue <double>(3, 300, (x) => string.Format(CultureInfo.InvariantCulture, "BAT: {0:F01} V", x));
targetMSR = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "MSR: {0:F01} dB", x));
targetPTime = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "TIM: {0:F04} sec", x));
ownLatitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°", x));
ownLongitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LON: {0:F06}°", x));
ownDepth = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "DPT: {0:F03} m", x));
ownBatteryVoltage = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "BAT: {0:F01} V", x));
#endregion
#region geoPlotCartesian
geoPlotCartesian.AddTrack("Rover", Color.Gray, 2, 2, settingsProvider.Data.MeasurementsFIFOSize, true);
geoPlotCartesian.AddTrack("Measurements", Color.Blue, 2, 2, settingsProvider.Data.MeasurementsFIFOSize, true);
geoPlotCartesian.AddTrack("Reference point", Color.Magenta, 4, 4, 1, false);
geoPlotCartesian.AddTrack("Base", Color.Green, 4, 4, settingsProvider.Data.BaseSize, false);
geoPlotCartesian.AddTrack("Target", Color.Red, 6, 6, settingsProvider.Data.TargetLocationFIFOSize, true);
#endregion
#region vlblCore
vlblCore = new VLBLCore <VLBLTOAMeasurement>(settingsProvider.Data.MeasurementsFIFOSize,
settingsProvider.Data.BaseSize,
settingsProvider.Data.RadialErrorThreshold,
settingsProvider.Data.SimplexSize,
UCNLNav.Algorithms.WGS84Ellipsoid);
vlblCore.BaseUpdatedEventHandler += (o, e) => { UpdateTrack("Base", e.BasePoints); };
vlblCore.ReferencePointUpdatedEventHandler += (o, e) => { UpdateTrack("Reference point", vlblCore.ReferencePoint); };
vlblCore.TargetPositionUpdatedEventHandler += (o, e) =>
{
UpdateTrack("Target", e.TargetPosition);
if (InvokeRequired)
{
Invoke((MethodInvoker) delegate
{
targetLatitude.Value = e.TargetPosition.Latitude;
targetLongitude.Value = e.TargetPosition.Longitude;
targetRadialError.Value = e.RadialError;
});
}
else
{
targetLatitude.Value = e.TargetPosition.Latitude;
targetLongitude.Value = e.TargetPosition.Longitude;
targetRadialError.Value = e.RadialError;
}
};
#endregion
#region tracks
tracks = new Dictionary <string, List <GeoPoint3D> >();
#endregion
#region InPort
inPort = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.InPortName, settingsProvider.Data.InPortBaudrate,
System.IO.Ports.Parity.None,
DataBits.dataBits8,
System.IO.Ports.StopBits.One,
System.IO.Ports.Handshake.None));
inPort.NewNMEAMessage += new EventHandler <NewNMEAMessageEventArgs>(inPort_NewNMEAMessage);
#endregion
#region OutPort
if (settingsProvider.Data.IsUseOutPort)
{
outPort = new SerialPort(settingsProvider.Data.OutPortName, (int)settingsProvider.Data.OutPortBaudrate);
}
#endregion
#region timer
timer = new PrecisionTimer();
timer.Period = 1000;
timer.Mode = Mode.Periodic;
timer.Tick += new EventHandler(timer_Tick);
timer.Start();
#endregion
}
