protected override Task <IObservable <Core.AcquisitionProviders.Model.LocalisationData> > InitializeCore()
{
this.Frequency = this.ReaderFrequencyInMs <= 0 ? 50 : 1000 / this.ReaderFrequencyInMs;
return(Task.Run(
() =>
{
// the raw value is used rather than the corrected value
// because the Localisation provider with recalculate the correction as if it was receiving live values
var gpxDataSource = GpxReader.LoadGpxData(this.FilePath, false)
.Select(
gpxData =>
{
var currentGeoData = new GeoData {
PositionData = gpxData.PositionData, PrecisionData = gpxData.PrecisionData, VelocityData = gpxData.VelocityData
};
GpsStatus gpsStatus;
if (gpxData.PositionData.InsData == null)
{
gpsStatus = (gpxData.PositionData.NbSatellites < 4 || gpxData.PositionData.Quality == FixType.None || gpxData.PrecisionData.Hdop > 4 ? GpsStatus.SignalLost : GpsStatus.Reliable);
}
else
{
gpsStatus = (gpxData.PositionData.InsData.Status != NavigationStatus.Locked ? GpsStatus.Initializing : gpxData.PositionData.Longitude == 0 && gpxData.PositionData.Latitude == 0 ? GpsStatus.SignalLost : GpsStatus.Reliable);
}
return new LocalisationData {
RawData = currentGeoData, GpsStatus = gpsStatus
};
});
// performance could be improved here, but good enough for now
this.DataSourceCount = gpxDataSource.LongCount();
IObservable <LocalisationData> obs;
if (this.ReaderFrequencyInMs == 0)
{
obs = gpxDataSource.ToObservable();
}
else
{
obs = gpxDataSource.ToObservable()
.Zip(Observable.Interval(TimeSpan.FromMilliseconds(this.ReaderFrequencyInMs)), (loc, ticks) => loc);
}
obs = obs.TakeWhile(_ => this.State > ProviderState.Initialized);
if (this.AutoRepeatTrace)
{
obs = obs.Repeat();
}
if (this.InitialDelayInMs > 0)
{
obs = obs.DelaySubscription(TimeSpan.FromMilliseconds(this.InitialDelayInMs));
}
return obs;
}));
}
