/// <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 RMC", "message");
}
if (message[8].Length == 6 && message[0].Length >= 6)
{
FixTime = new DateTimeOffset(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, TimeSpan.Zero).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="Rma"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Rma(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 12)
{
throw new ArgumentException("Invalid RMA", "message");
}
Status = message[0] == "A" ? PositioningStatus.Autonomous : (message[0] == "D" ? PositioningStatus.Differential : PositioningStatus.Invalid);
Latitude = NmeaMessage.StringToLatitude(message[1], message[2]);
Longitude = NmeaMessage.StringToLongitude(message[3], message[4]);
if (double.TryParse(message[5], NumberStyles.Float, CultureInfo.InvariantCulture, out double tmp))
{
TimeDifferenceA = TimeSpan.FromMilliseconds(tmp / 1000);
}
if (double.TryParse(message[6], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
TimeDifferenceB = TimeSpan.FromMilliseconds(tmp / 1000);
}
if (double.TryParse(message[7], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
Speed = tmp;
}
else
{
Speed = double.NaN;
}
if (double.TryParse(message[8], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
Course = tmp;
}
else
{
Course = double.NaN;
}
if (double.TryParse(message[9], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp))
{
MagneticVariation = tmp * (message[10] == "E" ? -1 : 1);
}
else
{
MagneticVariation = double.NaN;
}
switch (message[11])
{
case "A": Mode = PositioningMode.Autonomous; break;
case "D": Mode = PositioningMode.Autonomous; break;
case "E": Mode = PositioningMode.Estimated; break;
case "M": Mode = PositioningMode.Manual; break;
case "S": Mode = PositioningMode.Simulator; break;
case "N":
default:
Mode = PositioningMode.Autonomous; break;
}
}
/// <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 RMB", "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="Gll"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Gll(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 4)
{
throw new ArgumentException("Invalid GLL", "message");
}
Latitude = NmeaMessage.StringToLatitude(message[0], message[1]);
Longitude = NmeaMessage.StringToLongitude(message[2], message[3]);
if (message.Length >= 5) //Some older GPS doesn't broadcast fix time
{
FixTime = StringToTimeSpan(message[4]);
}
DataActive = (message.Length < 6 || message[5] == "A");
ModeIndicator = DataActive ? Mode.Autonomous : Mode.DataNotValid;
if (message.Length > 6)
{
switch (message[6])
{
case "A": ModeIndicator = Mode.Autonomous; break;
case "D": ModeIndicator = Mode.DataNotValid; break;
case "E": ModeIndicator = Mode.EstimatedDeadReckoning; break;
case "M": ModeIndicator = Mode.Manual; break;
case "S": ModeIndicator = Mode.Simulator; break;
case "N": ModeIndicator = Mode.DataNotValid; break;
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Gga"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Gga(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 14)
{
throw new ArgumentException("Invalid GGA", "message");
}
FixTime = StringToTimeSpan(message[0]);
Latitude = NmeaMessage.StringToLatitude(message[1], message[2]);
Longitude = NmeaMessage.StringToLongitude(message[3], message[4]);
Quality = (Gga.FixQuality) int.Parse(message[5], CultureInfo.InvariantCulture);
NumberOfSatellites = int.Parse(message[6], CultureInfo.InvariantCulture);
Hdop = NmeaMessage.StringToDouble(message[7]);
Altitude = NmeaMessage.StringToDouble(message[8]);
AltitudeUnits = message[9];
GeoidalSeparation = NmeaMessage.StringToDouble(message[10]);
GeoidalSeparationUnits = message[11];
var timeInSeconds = StringToDouble(message[12]);
if (!double.IsNaN(timeInSeconds))
{
TimeSinceLastDgpsUpdate = TimeSpan.FromSeconds(timeInSeconds);
}
else
{
TimeSinceLastDgpsUpdate = TimeSpan.MaxValue;
}
if (message[13].Length > 0)
{
DgpsStationId = int.Parse(message[13], CultureInfo.InvariantCulture);
}
else
{
DgpsStationId = -1;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Vlw"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Vlw(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 7)
{
throw new ArgumentException("Invalid VLW", "message");
}
WaterDistanceCumulative = NmeaMessage.StringToDouble(message[0]);
WaterDistanceSinceReset = NmeaMessage.StringToDouble(message[2]);
GroundDistanceCumulative = NmeaMessage.StringToDouble(message[4]);
GroundDistanceSinceReset = NmeaMessage.StringToDouble(message[6]);
}
/// <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 VTG", "message");
}
CourseTrue = NmeaMessage.StringToDouble(message[0]);
CourseMagnetic = NmeaMessage.StringToDouble(message[2]);
SpeedKnots = NmeaMessage.StringToDouble(message[4]);
SpeedKph = 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 GST", "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]);
}
/// <summary>
/// Initializes a new instance of the <see cref="Gbs"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Grs(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 8)
{
throw new ArgumentException("Invalid Grs", "message");
}
FixTime = StringToTimeSpan(message[0]);
Mode = message[1] == "1" ? GrsMode.RecomputedFromPosition : GrsMode.UsedForPosition;
double[] residuals = new double[message.Length - 2];
for (int i = 2; i < message.Length; i++)
{
residuals[i - 2] = NmeaMessage.StringToDouble(message[i]);
}
Residuals = residuals;
}
/// <summary>
/// Initializes a new instance of the <see cref="Gll"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Dtm(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 8)
{
throw new ArgumentException("Invalid DTM", "message");
}
LocalDatumCode = message[0];
if (message[1].Length > 0)
{
LocalDatumSubdivisionCode = message[1][0];
}
LatitudeOffset = NmeaMessage.StringToDouble(message[2]) * (message[3] == "S" ? -1 : 1);
LongitudeOffset = NmeaMessage.StringToDouble(message[4]) * (message[5] == "W" ? -1 : 1);
AltitudeOffset = NmeaMessage.StringToDouble(message[6]);
ReferenceDatumCode = message[7];
}
/// <summary>
/// Initializes a new instance of the <see cref="Gbs"/> class.
/// </summary>
/// <param name="type">The message type</param>
/// <param name="message">The NMEA message values.</param>
public Gbs(string type, string[] message) : base(type, message)
{
if (message == null || message.Length < 8)
{
throw new ArgumentException("Invalid GBS", "message");
}
FixTime = StringToTimeSpan(message[0]);
LatitudeError = NmeaMessage.StringToDouble(message[1]);
LongitudeError = NmeaMessage.StringToDouble(message[2]);
AltitudeError = NmeaMessage.StringToDouble(message[3]);
if (int.TryParse(message[4], System.Globalization.NumberStyles.Integer, CultureInfo.InvariantCulture, out int id))
{
SatelliteId = id;
}
MissedDetectionProbability = NmeaMessage.StringToDouble(message[5]);
BiasEstimate = NmeaMessage.StringToDouble(message[6]);
StandardDeviation = NmeaMessage.StringToDouble(message[7]);
}
/// <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]);
ModeIndicators = message[5].Select(t => ParseModeIndicator(t)).ToArray();
NumberOfSatellites = int.Parse(message[6], CultureInfo.InvariantCulture);
Hdop = NmeaMessage.StringToDouble(message[7]);
OrthometricHeight = NmeaMessage.StringToDouble(message[8]);
GeoidalSeparation = NmeaMessage.StringToDouble(message[9]);
var timeInSeconds = StringToDouble(message[10]);
if (!double.IsNaN(timeInSeconds))
{
TimeSinceLastDgpsUpdate = TimeSpan.FromSeconds(timeInSeconds);
}
else
{
TimeSinceLastDgpsUpdate = null;
}
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;
}
}
}
