private void RTKDataShow(object sender, EventArgs e)
{
dataGridView_RTK.Rows[0].Cells["GPStime"].Value = GPGGA.GetInstance().UTCtime;
dataGridView_RTK.Rows[0].Cells["Latitude"].Value = GPGGA.GetInstance().Latitude;
dataGridView_RTK.Rows[0].Cells["Longitude"].Value = GPGGA.GetInstance().Longitude;
dataGridView_RTK.Rows[0].Cells["MsgStatus"].Value = GPGGA.GetInstance().MsgStatus;
dataGridView_RTK.Rows[0].Cells["PlanetNum"].Value = GPGGA.GetInstance().PlanetNum;
dataGridView_RTK.Rows[0].Cells["DiffCorDelay"].Value = GPGGA.GetInstance().DiffCorDelay;
dataGridView_RTK.Rows[0].Cells["Yaw"].Value = HEADINGA.GetInstance().Yaw;
}
/// <summary>
/// Private method for parsing the GPGGA NMEA sentence
/// </summary>
/// <param name="strGGA">GPGGA sentence</param>
private void ParseGGA(string strGGA)
{
GPGGA = new GPGGA(strGGA);
//fire the event.
GpsEventArgs e = new GpsEventArgs
{
TypeOfEvent = GpsEventType.GPGGA,
Sentence = strGGA
};
NewProcessedGpsFix(this, e);
}
//private static GpsTranslation;
private void DataReceived(object sender, SerialDataReceivedEventArgs e)
{
string strRecv;
string[] strGPS;
strRecv = serialPort.ReadLine();
int index = strRecv.IndexOf('$');
if (index == -1)
{
return;
}
else
{
strRecv.Remove(0, index);
}
strGPS = strRecv.Replace('*', ',').Split(',');
GpsProcess gpsProcess = new GpsProcess();
switch (strGPS[0])
{
case "$GPGGA": { //GPS定位信息
if (strGPS.Length < 13)
{
return;
}
GPGGA gpgga = new GPGGA();
gpsProcess.ReadGPGGA(strGPS, gpgga);
BeginInvoke(new MethodInvoker(delegate()
{
gpsProcess.WriteGPGGA(gpgga);
xy = GpsTranslation.wgs2bd(gpsProcess.Latitude, gpsProcess.Longitude);
Jd.Text = "经度：" + xy[0].ToString(); //lon
Wd.Text = "纬度：" + xy[1].ToString(); //lat
}));
break;
}
case "$GPVTG": { //地面速度信息
if (strGPS.Length < 10)
{
return;
}
GPVTG gpvtg = new GPVTG();
gpsProcess.ReadGPVTG(strGPS, gpvtg);
BeginInvoke(new MethodInvoker(delegate() { speed.Text = "速度：" + gpsProcess.WriteGPVTG(gpvtg); }));
break;
}
default: break;
}
}
/// <summary>
/// Initializes a GpsHandler for communication with GPS receiver.
/// The GpsHandler is used for communication with the GPS device and process information from the GPS revice.
/// </summary>
public GpsHandler()
{
_disposed = false;
NewProcessedGpsFix += GpsEventHandler;
//Link event from GPS receiver to process data function
GpsPort.NewGpsData += GpsDataEventHandler;
GPRMC = new GPRMC();
GPGGA = new GPGGA();
GPGSA = new GPGSA();
GPRMC = new GPRMC();
PGRME = new GPRME();
GPGSV = new GPGSV();
}
/// <summary>
/// Disposes the GpsHandler and if nessesary calls Stop()
/// </summary>
public void Dispose()
{
if (!_disposed)
{
Stop();
GpsPort.Dispose();
GPGGA = null;
GPGLL = null;
GPGSA = null;
GPRMC = null;
PGRME = null;
GpsPort = null;
_disposed = true;
}
GC.SuppressFinalize(this);
}
public void ReadGPGGA(string[] strGPS, GPGGA gpgga)
{
try
{
gpgga.UTCTime = DateTime.FromOADate(Convert.ToDouble(strGPS[1]));
gpgga.Latitude = string.IsNullOrEmpty(strGPS[2]) ? 0 : Convert.ToDouble(strGPS[2]);
gpgga.LatitudeNS = string.IsNullOrEmpty(strGPS[3]) ? ' ' : Convert.ToChar(strGPS[3]);
gpgga.Longitude = string.IsNullOrEmpty(strGPS[4]) ? 0 : Convert.ToDouble(strGPS[4]);
gpgga.LongitudeEW = string.IsNullOrEmpty(strGPS[5]) ? ' ' : Convert.ToChar(strGPS[5]);
gpgga.Quality = string.IsNullOrEmpty(strGPS[6]) ? 0 : Convert.ToInt32(strGPS[6]);
gpgga.UseSatelliteCount = string.IsNullOrEmpty(strGPS[7]) ? 0 : Convert.ToInt32(strGPS[7]);
gpgga.precision = string.IsNullOrEmpty(strGPS[8]) ? 0 : Convert.ToDouble(strGPS[8]);//
gpgga.SeaLevelHeight = string.IsNullOrEmpty(strGPS[9]) ? 0 : Convert.ToDouble(strGPS[9]);
//10为单位（米：M）
gpgga.GeoidalHeight = string.IsNullOrEmpty(strGPS[11]) ? 0 : Convert.ToDouble(strGPS[11]);
//12为单位（米：M）
gpgga.DifferenceDeadline = string.IsNullOrEmpty(strGPS[13]) ? 0 : Convert.ToDouble(strGPS[13]);
gpgga.DifferenceReferenceBaseStation = string.IsNullOrEmpty(strGPS[14]) ? 0 : Convert.ToDouble(strGPS[14]);
}
catch { }
}
private void RTKDataDecode(string[] dat)
{
switch (dat[0])
{
case "#HEADINGA":
if (dat.Length == 26)
{
HEADINGA.GetInstance().Yaw = Convert.ToSingle(dat[12]);;
}
break;
case "$GPGGA":
if (dat.Length == 15)
{
GPGGA.GetInstance().LogHeader = dat[0];
GPGGA.GetInstance().UTCtime = Convert.ToSingle(dat[1]);
GPGGA.GetInstance().Latitude = Convert.ToSingle(dat[2]);
GPGGA.GetInstance().LatitudeDir = dat[3];
GPGGA.GetInstance().Longitude = Convert.ToSingle(dat[4]);
GPGGA.GetInstance().LongitudeDir = dat[5];
GPGGA.GetInstance().MsgStatus = (byte)dat[6].ToInt32();
GPGGA.GetInstance().PlanetNum = (byte)dat[7].ToInt32();
GPGGA.GetInstance().DopLevel = dat[8].ToLong();
GPGGA.GetInstance().AntennaPlanetNum = dat[9].ToLong();
GPGGA.GetInstance().AntennaUnit = dat[10];
GPGGA.GetInstance().SeaPlanetNum = dat[11].ToLong();
GPGGA.GetInstance().SeaUnit = dat[12];
GPGGA.GetInstance().DiffCorDelay = (byte)dat[13].ToInt32();
//GPGGA.GetInstance().ReferenceId = dat[14];
//GPGGA.GetInstance().Crc = (byte)dat[15].ToInt32();
}
break;
case "$GPRMC":
break;
default:
break;
}
}
public void WriteGPGGA(GPGGA gpgga)
{
Longitude = gpgga.Longitude / 100;
Latitude = gpgga.Latitude / 100;
/*
* label_wd.Text = gpgga.Longitude.ToString() + gpgga.LongitudeEW;
* label_jd.Text = gpgga.Latitude.ToString() + gpgga.LatitudeNS;
*
* label_utcsj.Text = gpgga.UTCTime.ToLongTimeString();
* label_spjdyz.Text = gpgga.precision.ToString();
* label_jswzwxsl.Text = gpgga.UseSatelliteCount.ToString();
* label_jd.Text = gpgga.Latitude.ToString() + gpgga.LatitudeNS.ToString();
* label_cfzID.Text = gpgga.DifferenceReferenceBaseStation.ToString();
* label_cfsj.Text = gpgga.DifferenceDeadline.ToString();
* label_hbgd.Text = gpgga.SeaLevelHeight.ToString() + "米";
* label_ddszmgd.Text = gpgga.GeoidalHeight.ToString() + "米";
*
* switch (gpgga.Quality)
* {//0=未定位，1=非差分定位，2=差分定位，6=正在估算
* case 0:
* label_gpsstatus.Text = "未定位";
* break;
* case 1:
* label_gpsstatus.Text = "非差分定位";
* break;
* case 2:
* label_gpsstatus.Text = "差分定位";
* break;
* case 6:
* label_gpsstatus.Text = "正在估算";
* break;
* default:
* label_gpsstatus.Text = "";
* break;
* }*/
}
string GetParameter(GPGGA param)
{
return(parameters[(int)param]);
}
/// <summary>
/// Initializes a GpsHandler for communication with GPS receiver.
/// The GpsHandler is used for communication with the GPS device and process information from the GPS revice.
/// </summary>
public GpsHandler()
{
_disposed = false;
NewProcessedGpsFix += GpsEventHandler;
//Link event from GPS receiver to process data function
GpsPort.NewGpsData += GpsDataEventHandler;
GPRMC = new GPRMC();
GPGGA = new GPGGA();
GPGSA = new GPGSA();
GPRMC = new GPRMC();
PGRME = new GPRME();
GPGSV = new GPGSV();
}
/// <summary>
/// Private method for parsing the GPGGA NMEA sentence
/// </summary>
/// <param name="strGGA">GPGGA sentence</param>
private void ParseGGA(string strGGA)
{
GPGGA = new GPGGA(strGGA);
//fire the event.
GpsEventArgs e = new GpsEventArgs
{
TypeOfEvent = GpsEventType.GPGGA,
Sentence = strGGA
};
NewProcessedGpsFix(this, e);
}
/// <summary>
/// Disposes the GpsHandler and if nessesary calls Stop()
/// </summary>
public void Dispose()
{
if (!_disposed)
{
Stop();
GpsPort.Dispose();
GPGGA = null;
GPGLL = null;
GPGSA = null;
GPRMC = null;
PGRME = null;
GpsPort = null;
_disposed = true;
}
GC.SuppressFinalize(this);
}
