public HDTMessageEventArgs(int sourceID, TalkerIdentifiers talkerID, double heading, bool isValid)
{
SourceID = sourceID;
TalkerID = talkerID;
Heading = heading;
IsValid = isValid;
}
public GLLEventArgs(TalkerIdentifiers talkerID, double lat, double lon, DateTime timeFix)
{
TalkerID = talkerID;
Latitude = lat;
Longitude = lon;
TimeFix = timeFix;
}
private void OnGLLSentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
if (GLLSentenceReceived != null)
{
double latitude = doubleNullChecker(parameters[0]);
double longitude = doubleNullChecker(parameters[2]);
DateTime tStamp = (DateTime)parameters[4];
bool isValid = (parameters[5].ToString() == "Valid") &&
(!double.IsNaN(latitude)) && latitude.IsValidLatDeg() &&
(!double.IsNaN(longitude)) && longitude.IsValidLonDeg();
if (isValid)
{
if (parameters[1].ToString() == "S")
{
latitude = -latitude;
}
if (parameters[3].ToString() == "W")
{
longitude = -longitude;
}
}
GLLSentenceReceived.Rise(this, new GLLMessageEventArgs(sourceID, talkerID, latitude, longitude, tStamp, isValid));
}
}
public MTWMessageEventArgs(int sourceID, TalkerIdentifiers talkerID, double temp, bool isValid)
{
SourceID = sourceID;
TalkerID = talkerID;
MeanWaterTemperature = temp;
IsValid = isValid;
}
private void OnGSASentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
if (GSASentenceReceived != null)
{
string fixSelection = parameters[0].ToString();
string fixType = parameters[1].ToString();
List <int> satIDs = new List <int>();
for (int i = 2; i < 14; i++)
{
int tPRN = intNullChecker(parameters[i]);
if (tPRN >= 0)
{
satIDs.Add(tPRN);
}
}
double PDOP = doubleNullChecker(parameters[14]);
double HDOP = doubleNullChecker(parameters[15]);
double VDOP = doubleNullChecker(parameters[16]);
bool isValid = (satIDs.Count > 0) && (!double.IsNaN(PDOP)) && (!double.IsNaN(HDOP)) && (!double.IsNaN(VDOP));
GSASentenceReceived.Rise(this, new GSAMessageEventArgs(sourceID, talkerID, fixSelection, fixType, satIDs, PDOP, HDOP, VDOP, isValid));
}
}
private void ProcessGLL(TalkerIdentifiers talkerID, object[] parameters)
{
if (GLLEvent != null)
{
try
{
if (parameters[5].ToString() != "Invalid")
{
var timeFix = (DateTime)parameters[4];
var lat = (double)parameters[0];
var latC = (Cardinals)Enum.Parse(typeof(Cardinals), (string)parameters[1]);
if (latC == Cardinals.South)
{
lat = -lat;
}
var lon = (double)parameters[2];
var lonC = (Cardinals)Enum.Parse(typeof(Cardinals), (string)parameters[3]);
if (lonC == Cardinals.West)
{
lon = -lon;
}
GLLEvent(this, new GLLEventArgs(talkerID, lat, lon, timeFix));
}
}
catch
{
//
}
}
}
public VTGEventArgs(TalkerIdentifiers talkerID, double trackTrue, double trackMagnetic, double speedKmh)
{
TalkerID = talkerID;
TrackTrue = trackTrue;
TrackMagnetic = TrackMagnetic;
SpeedKmh = speedKmh;
}
public HDGMessageEventArgs(int sourceID, TalkerIdentifiers talkerID, double mHeading, double mVariation, bool isValid)
{
SourceID = sourceID;
TalkerID = talkerID;
MagneticHeading = mHeading;
MagneticVariation = mVariation;
IsValid = isValid;
}
public VTGMessageEventArgs(int sourceID, TalkerIdentifiers talkerID, double trackTrue, double trackMagnetic, double speedKmh, bool isValid)
{
SourceID = sourceID;
TalkerID = talkerID;
TrackTrue = trackTrue;
TrackMagnetic = TrackMagnetic;
SpeedKmh = speedKmh;
IsValid = isValid;
}
public GLLMessageEventArgs(int sourceID, TalkerIdentifiers talkerID, double latitude, double longitude, DateTime tStamp, bool isValid)
{
SourceID = sourceID;
TalkerID = talkerID;
Latitude = latitude;
Longitude = longitude;
TimeStamp = tStamp;
IsValid = isValid;
}
private void OnMTWSentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
if (MTWSentenceReceived != null)
{
double temp = doubleNullChecker(parameters[0]);
bool isValid = !double.IsNaN(temp);
MTWSentenceReceived.Rise(this, new MTWMessageEventArgs(sourceID, talkerID, temp, isValid));
}
}
public RMCEventArgs(TalkerIdentifiers talkerID, DateTime timeFix, double lat, double lon, double speedKmh, double trackTrue, double mVar)
{
TalkerID = talkerID;
TimeFix = timeFix;
Latitude = lat;
Longitude = lon;
SpeedKmh = speedKmh;
TrackTrue = trackTrue;
MagneticVariation = mVar;
}
private void OnHDTSentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
// $GPHDT,253.423,T*34
if (HDTSentenceReceived != null)
{
double heading = doubleNullChecker(parameters[0]);
bool isValid = !double.IsNaN(heading);
HDTSentenceReceived.Rise(this, new HDTMessageEventArgs(sourceID, talkerID, heading, isValid));
}
}
public GSAMessageEventArgs(int sourceID, TalkerIdentifiers talkerID, string fSelection, string fType, List <int> satIDs, double pDOP, double hDOP, double vDOP, bool isValid)
{
SourceID = sourceID;
TalkerID = talkerID;
FixSelection = fSelection;
FixType = fType;
UsedSatellitesIDs = satIDs.ToArray();
PDOP = pDOP;
HDOP = hDOP;
VDOP = vDOP;
IsValid = isValid;
}
public RMCMessageEventArgs(int sourceID, TalkerIdentifiers talkerID, DateTime timeFix, double lat, double lon, double speedKmh, double trackTrue, double mVar, bool isValid)
{
SourceID = sourceID;
TalkerID = talkerID;
TimeFix = timeFix;
Latitude = lat;
Longitude = lon;
SpeedKmh = speedKmh;
TrackTrue = trackTrue;
MagneticVariation = mVar;
IsValid = isValid;
}
public GGAEventArgs(TalkerIdentifiers talkerID, string gpsQualityIndicator, DateTime timeFix, double lat, double lon, int satsInUse, double dohp, double antennaAlt, double gsep, int drs)
{
TalkerID = talkerID;
GPSQualityIndicator = gpsQualityIndicator;
TimeFix = timeFix;
Latitude = lat;
Longitude = lon;
SatellitesInUse = satsInUse;
PrecisionHorizontalDilution = dohp;
AntennaAltitude = antennaAlt;
GeoidalSeparation = gsep;
DifferentianReferenceStation = drs;
}
private void OnHDGSentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
if (HDGSentenceReceived != null)
{
double magneticHeading = doubleNullChecker(parameters[0]);
double magneticVariation = doubleNullChecker(parameters[3]);
if (double.IsNaN(magneticVariation))
{
magneticVariation = 0.0;
}
bool isValid = !double.IsNaN(magneticHeading);
HDGSentenceReceived.Rise(this, new HDGMessageEventArgs(sourceID, talkerID, magneticHeading, magneticVariation, isValid));
}
}
public GGAMessageEventArgs(int sourceID, TalkerIdentifiers talkerID, DateTime timeStamp,
double lat, double lon, string gnssQuality, int satNum, double hdop, double orHeight, double gSep, double dgpsAge, int datumID, bool isValid)
{
SourceID = sourceID;
TalkerID = talkerID;
TimeStamp = timeStamp;
Latitude = lat;
Longitude = lon;
GNSSQualityIndicator = gnssQuality;
SatellitesInUse = satNum;
HDOP = hdop;
OrthometricHeight = orHeight;
GeiodSeparation = gSep;
DGPSRecordAge = dgpsAge;
DatumID = datumID;
IsValid = isValid;
}
private void OnVTGSentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
if (VTGSentenceReceived != null)
{
var trackTrue = doubleNullChecker(parameters[0]);
var trackMagnetic = doubleNullChecker(parameters[2]);
var speedKnots = doubleNullChecker(parameters[4]);
var skUnits = (string)parameters[5];
var speedKmh = doubleNullChecker(parameters[6]);
var sKmUnits = (string)parameters[7];
bool isValid = (!double.IsNaN(trackTrue) || !double.IsNaN(trackMagnetic)) &&
!double.IsNaN(speedKnots) &&
!double.IsNaN(speedKmh);
VTGSentenceReceived.Rise(this, new VTGMessageEventArgs(sourceID, talkerID, trackTrue, trackMagnetic, speedKmh, isValid));
}
}
private void ProcessGGA(TalkerIdentifiers talkerID, object[] parameters)
{
if (GGAEvent != null)
{
var gpsQualityIndicator = (string)parameters[5];
if (gpsQualityIndicator != "Fix not availible")
{
try
{
var timeFix = (DateTime)parameters[0];
var lat = doubleNullChecker(parameters[1]);
var lon = doubleNullChecker(parameters[3]);
var satellitesInUse = intNullChecker(parameters[6]);
var precisionHorizontalDilution = doubleNullChecker(parameters[7]);
var antennaAltitude = doubleNullChecker(parameters[8]);
var antennaAltitudeUnits = (string)parameters[9];
var geoidalSeparation = doubleNullChecker(parameters[10]);
var geoidalSeparationUnits = (string)parameters[11];
var differentialReferenceStation = intNullChecker(parameters[12]);
GGAEvent(this,
new GGAEventArgs(
talkerID,
gpsQualityIndicator,
timeFix,
lat,
lon,
satellitesInUse,
precisionHorizontalDilution,
antennaAltitude,
geoidalSeparation,
differentialReferenceStation));
}
catch
{
//
}
}
}
}
private void ProcessGSV(TalkerIdentifiers talkerID, object[] paramters)
{
if (GSVEvent != null)
{
try
{
List <SatelliteData> satellites = new List <SatelliteData>();
int totalMessages = (int)paramters[0];
int currentMessageNumber = (int)paramters[1];
int satellitesDataItemsCount = (paramters.Length - 3) / 4;
for (int i = 0; i < satellitesDataItemsCount; i++)
{
satellites.Add(
new SatelliteData(
intNullChecker(paramters[3 + 4 * i]),
intNullChecker(paramters[4 + 4 * i]),
intNullChecker(paramters[5 + 4 * i]),
intNullChecker(paramters[6 + 4 * i])));
}
if (currentMessageNumber == 1)
{
fullSatellitesData = new List <SatelliteData>();
}
fullSatellitesData.AddRange(satellites.ToArray());
if (currentMessageNumber == totalMessages)
{
GSVEvent(this, new GSVEventArgs(talkerID, fullSatellitesData.ToArray()));
}
}
catch
{
//
}
}
}
private void OnRMCSentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
if (RMCSentenceReceived != null)
{
DateTime tStamp = parameters[0] == null ? DateTime.MinValue : (DateTime)parameters[0];
var latitude = doubleNullChecker(parameters[2]);
var longitude = doubleNullChecker(parameters[4]);
var groundSpeed = doubleNullChecker(parameters[6]);
var courseOverGround = doubleNullChecker(parameters[7]);
DateTime dateTime = parameters[8] == null ? DateTime.MinValue : (DateTime)parameters[8];
var magneticVariation = doubleNullChecker(parameters[9]);
bool isValid = (parameters[1].ToString() != "Invalid") &&
(!double.IsNaN(latitude)) && latitude.IsValidLatDeg() &&
(!double.IsNaN(longitude)) && longitude.IsValidLonDeg() &&
(!double.IsNaN(groundSpeed)) &&
//(!double.IsNaN(courseOverGround)) &&
(parameters[11].ToString() != "N");
if (isValid)
{
dateTime = dateTime.AddHours(tStamp.Hour);
dateTime = dateTime.AddMinutes(tStamp.Minute);
dateTime = dateTime.AddSeconds(tStamp.Second);
dateTime = dateTime.AddMilliseconds(tStamp.Millisecond);
groundSpeed = 3.6 * NMEAParser.Bend2MpS(groundSpeed);
if (parameters[3].ToString() == "S")
{
latitude = -latitude;
}
if (parameters[5].ToString() == "W")
{
longitude = -longitude;
}
}
RMCSentenceReceived.Rise(this, new RMCMessageEventArgs(sourceID, talkerID, dateTime, latitude, longitude, groundSpeed, courseOverGround, magneticVariation, isValid));
}
}
private void ProcessRMC(TalkerIdentifiers talkerID, object[] parameters)
{
if (RMCEvent != null)
{
try
{
if (parameters[1].ToString() != "Invalid")
{
var timeFix = (DateTime)parameters[0];
var lat = (double)parameters[2];
var latC = (Cardinals)Enum.Parse(typeof(Cardinals), (string)parameters[3]);
if (latC == Cardinals.South)
{
lat = -lat;
}
var lon = (double)parameters[4];
var lonC = (Cardinals)Enum.Parse(typeof(Cardinals), (string)parameters[5]);
if (lonC == Cardinals.West)
{
lon = -lon;
}
var groundSpeed = (double)parameters[6];
var courseOverGround = (double)parameters[7];
var dateTime = (DateTime)parameters[8];
var magneticVariation = doubleNullChecker(parameters[9]);
RMCEvent(this, new RMCEventArgs(talkerID, timeFix, lat, lon, NMEAParser.NM2Km(groundSpeed), courseOverGround, magneticVariation));
}
}
catch
{
//
}
}
}
private void ProcessVTG(TalkerIdentifiers talkerID, object[] parameters)
{
if (VTGEvent != null)
{
try
{
var trackTrue = doubleNullChecker(parameters[0]);
var trackMagnetic = doubleNullChecker(parameters[2]);
var speedKnots = doubleNullChecker(parameters[4]);
var skUnits = (string)parameters[5];
var speedKmh = doubleNullChecker(parameters[6]);
var sKmUnits = (string)parameters[7];
VTGEvent(this, new VTGEventArgs(talkerID, trackTrue, trackMagnetic, speedKmh));
}
catch
{
//
}
}
}
private void OnGSVSentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
if (GSVSentenceReceived != null)
{
List <SatelliteData> satellites = new List <SatelliteData>();
int totalMessages = (int)parameters[0];
int currentMessageNumber = (int)parameters[1];
int satellitesDataItemsCount = (parameters.Length - 3) / 4;
for (int i = 0; i < satellitesDataItemsCount; i++)
{
satellites.Add(
new SatelliteData(
intNullChecker(parameters[3 + 4 * i]),
intNullChecker(parameters[4 + 4 * i]),
intNullChecker(parameters[5 + 4 * i]),
intNullChecker(parameters[6 + 4 * i])));
}
if (!fullSatellitesData.ContainsKey(sourceID))
{
fullSatellitesData.Add(sourceID, new List <SatelliteData>());
}
if (currentMessageNumber == 1)
{
fullSatellitesData[sourceID] = new List <SatelliteData>();
}
fullSatellitesData[sourceID].AddRange(satellites.ToArray());
if (currentMessageNumber == totalMessages)
{
GSVSentenceReceived.Rise(this, new GSVMessageEventArgs(sourceID, talkerID, fullSatellitesData[sourceID].ToArray()));
}
}
}
//public void ProcessIncoming(int sourceID, string data)
//{
// if (!buffer_.ContainsKey(sourceID))
// buffer_.Add(sourceID, new StringBuilder());
// buffer_[sourceID].Append(data);
// var temp = buffer_[sourceID].ToString();
// int lIndex = temp.LastIndexOf(NMEAParser.SentenceEndDelimiter);
// if (lIndex >= 0)
// {
// buffer_[sourceID].Remove(0, lIndex + 2);
// if (lIndex + 2 < temp.Length)
// temp = temp.Remove(lIndex + 2);
// temp = temp.Trim(new char[] { '\0' });
// int startIdx = temp.IndexOf(NMEAParser.SentenceStartDelimiter);
// if (startIdx > 0)
// temp = temp.Remove(0, startIdx);
// var lines = temp.Split(NMEAParser.SentenceEndDelimiter.ToCharArray(), StringSplitOptions.RemoveEmptyEntries);
// for (int i = 0; i < lines.Length; i++)
// Parse(sourceID, string.Format("{0}{1}", lines[i], NMEAParser.SentenceEndDelimiter));
// }
// if (buffer_[sourceID].Length >= ushort.MaxValue)
// buffer_[sourceID].Remove(0, short.MaxValue);
//}
#endregion
#region Private
#region Standard sentence parsers
private void OnGGASentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
if (GGASentenceReceived != null)
{
DateTime tStamp = (DateTime)parameters[0];
double latitude = doubleNullChecker(parameters[1]);
double longitude = doubleNullChecker(parameters[3]);
string gnssQualityIndicator = parameters[5].ToString();
int satellitesInUse = intNullChecker(parameters[6]);
double HDOP = doubleNullChecker(parameters[7]);
double orthometricHeight = doubleNullChecker(parameters[8]);
// orthometric height units parameters[9]
double geiodSeparation = doubleNullChecker(parameters[10]);
// geoid separation units parameters[11]
double DGPSRecordAge = doubleNullChecker(parameters[12]);
int datumID = intNullChecker(parameters[13]);
bool isValid = (!double.IsNaN(latitude)) && latitude.IsValidLatDeg() &&
(!double.IsNaN(longitude)) && longitude.IsValidLonDeg() &&
(!double.IsNaN(HDOP));
if (isValid)
{
if (parameters[2].ToString() == "S")
{
latitude = -latitude;
}
if (parameters[4].ToString() == "W")
{
longitude = -longitude;
}
}
GGASentenceReceived.Rise(this, new GGAMessageEventArgs(sourceID, talkerID, tStamp,
latitude, longitude, gnssQualityIndicator, satellitesInUse, HDOP, orthometricHeight, geiodSeparation, DGPSRecordAge, datumID, isValid));
}
}
public GSVEventArgs(TalkerIdentifiers taklerID, SatelliteData[] satsData)
{
TalkerID = taklerID;
SatellitesData = satsData;
}
public GSVMessageEventArgs(int sourceID, TalkerIdentifiers taklerID, SatelliteData[] satsData)
{
SourceID = sourceID;
TalkerID = taklerID;
SatellitesData = satsData;
}