private void OnAPLA(object[] parameters)
{
// Incoming APLA sentence received
// $PAPLA,bID,bLat,bLon,bDpt,bBat,bTOA
BaseIDs baseID = (BaseIDs)(int)parameters[0];
double bLat = doubleNullChecker(parameters[1]);
double bLon = doubleNullChecker(parameters[2]);
double bDpt = doubleNullChecker(parameters[3]);
bool bBat = Convert.ToBoolean(intNullChecker(parameters[4]));
double bTOA = doubleNullChecker(parameters[5]);
if ((baseID != BaseIDs.BASE_INVALID) &&
(!double.IsNaN(bLat) &&
(!double.IsNaN(bLon) &&
(!double.IsNaN(bDpt)))))
{
TrackUpdateHandler.Rise(this,
new TrackUpdateEventArgs(baseID.ToString().Replace('_', ' '),
new GeoPoint3DETm(bLat, bLon, bDpt, 0.0, GetTimeStamp()), double.NaN));
BaseBatStates[baseID].Value = bBat;
var bases = basesProcessor.ProcessBase(baseID, bLat, bLon, bDpt, bTOA);
if (bases != null)
{
TryLocate(bases);
}
}
}
public GeoPoint3DT[] ProcessBase(BaseIDs baseID, double lat, double lon, double dpt, double toa)
{
GeoPoint3DT[] result = null;
if (!double.IsNaN(toa))
{
if (bases.ContainsKey(baseID))
{
if (bases.Count >= 3)
{
result = GetBases();
}
bases.Clear();
bases.Add(baseID, new GeoPoint3DT(lat, lon, dpt, toa));
}
else
{
if (!double.IsNaN(prevTOA))
{
if (((toa - prevTOA) <= pingerPeriod / 2) ||
((toa + 60 - prevTOA) <= pingerPeriod / 2))
{
bases.Add(baseID, new GeoPoint3DT(lat, lon, dpt, toa));
if (bases.Count >= 4)
{
result = GetBases();
bases.Clear();
}
}
else
{
if (bases.Count >= 3)
{
result = GetBases();
}
bases.Clear();
bases.Add(baseID, new GeoPoint3DT(lat, lon, dpt, toa));
}
}
else
{
bases.Add(baseID, new GeoPoint3DT(lat, lon, dpt, toa));
}
}
prevTOA = toa;
}
return(result);
}
public override void SetDefaults()
{
InPortName = "COM1";
InPortBaudrate = BaudRate.baudRate9600;
IsUseOutPort = false;
OutPortName = "COM1";
OutPortBaudrate = BaudRate.baudRate9600;
IsUseAUXGNSSPort = false;
AUXGNSSPortName = "COM1";
AUXGNSSPortBaudrate = BaudRate.baudRate9600;
SalinityPSU = 0.0;
IsSoundSpeedAuto = true;
SoundSpeedMPS = 1500;
RadialErrorThrehsold = 10;
TrackPointsToShow = 100;
IsEmulatorButtonVisible = false;
CourseEstimatorFIFOSize = 8;
TrackFilterFIFOSize = 4;
IsUseBuoyAsAUXGNSS = false;
AuxGNSSBuoyID = BaseIDs.BASE_1;
TileServers = new string[]
{
"https://a.tile.openstreetmap.org",
"https://b.tile.openstreetmap.org",
"https://c.tile.openstreetmap.org"
};
}
private void OnLBLA(object[] parameters)
{
// IC_D2H_LBLA $PRWLA,bID,baseLat,baseLon,[baseDpt],baseBat,pingerDataID,pingerData,TOAsecond,MSR_dB
BaseIDs baseID = (parameters[0] == null) ? BaseIDs.BASE_INVALID : (BaseIDs)(int)parameters[0];
double baseLat = doubleNullChecker(parameters[1]);
double baseLon = doubleNullChecker(parameters[2]);
double baseDepth = (parameters[3] == null) ? RWLT.DEFAULT_BASE_DPT_M : (double)parameters[3];
double baseBat = doubleNullChecker(parameters[4]);
PingerDataIDs pDataID = (parameters[5] == null) ? PingerDataIDs.DID_INVALID : (PingerDataIDs)(int)parameters[5];
double pData = doubleNullChecker(parameters[6]);
double TOAs = doubleNullChecker(parameters[7]);
double MSR = doubleNullChecker(parameters[8]);
if ((baseID != BaseIDs.BASE_INVALID) &&
(!double.IsNaN(baseLat)) &&
(!double.IsNaN(baseLon)) &&
(!double.IsNaN(baseDepth)))
{
if ((baseID == auxGNSSBuoyID) && (!AUXGNSSUsed))
{
GNSS_RMCSentenceReceived(this,
new RMCMessageEventArgs(0xFF,
TalkerIdentifiers.GN,
GetTimeStamp(),
baseLat,
baseLon,
double.NaN,
double.NaN,
double.NaN,
true));
}
LocationUpdatedEvent.Rise(this, new LocationUpdatedEventArgs(baseID.ToString().Replace('_', ' '),
baseLat, baseLon, baseDepth,
true,
GetTimeStamp()));
if (!double.IsNaN(MSR))
{
BaseMSRs[baseID].Value = MSR;
}
if (!double.IsNaN(baseBat))
{
BaseBatVoltages[baseID].Value = baseBat;
}
if (gravityAccNeedsUpdate)
{
gravityAcc = PHX.Gravity_constant_wgs84_calc(baseLat);
gravityAccNeedsUpdate = false;
}
if (pDataID == PingerDataIDs.DID_BAT)
{
TargetBatVoltage.Value = pData;
}
else if (pDataID == PingerDataIDs.DID_TMP)
{
TargetTemperature.Value = pData;
if (IsAutoSoundSpeed && TargetPressure.IsInitialized)
{
Soundspeed = PHX.Speed_of_sound_UNESCO_calc(TargetTemperature.Value, TargetPressure.Value / 2.0, salinity);
}
}
else if (pDataID == PingerDataIDs.DID_PRS)
{
TargetPressure.Value = pData;
if (TargetTemperature.IsInitialized)
{
if (IsAutoSoundSpeed)
{
Soundspeed = PHX.Speed_of_sound_UNESCO_calc(TargetTemperature.Value, TargetPressure.Value / 2.0, salinity);
}
double rho = PHX.Water_density_calc(TargetTemperature.Value, TargetPressure.Value / 2.0, salinity);
// p0 is zero, because pinger calibrates surface pressure on start and transmits pressure relative to the surface
TargetDepth.Value = PHX.Depth_by_pressure_calc(TargetPressure.Value, 0, rho, gravityAcc);
}
else if (TargetPressure.IsInitialized)
{
TargetDepth.Value = PHX.Depth_by_pressure_calc(TargetPressure.Value, 0, PHX.PHX_FWTR_DENSITY_KGM3, gravityAcc);
}
}
else if (pDataID == PingerDataIDs.DID_CODE)
{
TargetAlarm.Value = (PingerCodeIDs)Enum.ToObject(typeof(PingerCodeIDs), Convert.ToInt32(pData));
}
var bases = baseProcessor.ProcessBase(baseID, baseLat, baseLon, baseDepth, TOAs);
if (bases != null)
{
TryLocate(bases);
}
}
OnSystemUpdate();
}
