public NovatelEventArgs(Novatel.Message message)
{
Message = message;
}
void packetReceived(object sender, DataEventArgs args)
{
byte[] data = args.Data;
int offset = args.Offset;
Novatel.MessageHeader h = new Novatel.MessageHeader();
h.HeaderLength = data[offset + 3];
h.MessageID = (Novatel.MessageID)BitConverter.ToUInt16(data, offset + 4);
h.MessageType = (Novatel.MessageType)data[offset + 6];
h.PortAddress = data[offset + 7];
h.MessageLength = BitConverter.ToUInt16(data, offset + 8);
h.Sequence = BitConverter.ToUInt16(data, offset + 10);
h.Idle = data[offset + 12];
h.TimeStatus = (Novatel.TimeStatus)data[offset + 13];
h.Week = BitConverter.ToUInt16(data, offset + 14);
h.MS = BitConverter.ToUInt32(data, offset + 16);
h.ReceiverStatus = BitConverter.ToUInt32(data, offset + 20);
h.FirmwareVersion = BitConverter.ToUInt16(data, offset + 26);
Novatel.Message result;
offset += h.HeaderLength;
switch (h.MessageID)
{
case Novatel.MessageID.BestPos:
case Novatel.MessageID.MasterPos:
case Novatel.MessageID.RTKPos:
{
Novatel.PositionMessage m = new Novatel.PositionMessage();
m.SolutionStatus = (Novatel.SolutionStatus)BitConverter.ToUInt32(data, offset);
m.PositionType = (Novatel.PositionType)BitConverter.ToUInt32(data, offset + 4);
m.Latitude = BitConverter.ToDouble(data, offset + 8);
m.Longitude = BitConverter.ToDouble(data, offset + 16);
m.Height = BitConverter.ToDouble(data, offset + 24);
m.Undulation = BitConverter.ToSingle(data, offset + 32);
m.DatumID = (Novatel.DatumID)BitConverter.ToUInt32(data, offset + 36);
m.LatitudeDeviation = BitConverter.ToSingle(data, offset + 40);
m.LongitudeDeviation = BitConverter.ToSingle(data, offset + 44);
m.HeightDeviation = BitConverter.ToSingle(data, offset + 48);
m.StationID = BitConverter.ToUInt32(data, offset + 52);
m.DifferentialAge = BitConverter.ToSingle(data, offset + 56);
m.SolutionAge = BitConverter.ToSingle(data, offset + 60);
m.SatelliteCount = data[offset + 64];
m.SatellitesUsed = data[offset + 65];
m.L1Used = data[offset + 66];
m.L1L2Used = data[offset + 67];
m.ExtraSolutionStatus = (Novatel.ExtraSolutionStatus)data[offset + 69];
m.SignalMask = (Novatel.SignalMask)data[offset + 71];
result = m;
}
break;
case Novatel.MessageID.BestUTM:
{
Novatel.UTMMessage m = new Novatel.UTMMessage();
m.SolutionStatus = (Novatel.SolutionStatus)BitConverter.ToUInt32(data, offset);
m.PositionType = (Novatel.PositionType)BitConverter.ToUInt32(data, offset + 4);
m.ZoneNumber = BitConverter.ToUInt32(data, offset + 8);
m.ZoneLetter = BitConverter.ToUInt32(data, offset + 12);
m.Northing = BitConverter.ToDouble(data, offset + 16);
m.Easting = BitConverter.ToDouble(data, offset + 24);
m.Height = BitConverter.ToDouble(data, offset + 32);
m.Undulation = BitConverter.ToSingle(data, offset + 40);
m.DatumID = (Novatel.DatumID)BitConverter.ToUInt32(data, offset + 44);
m.NorthingDeviation = BitConverter.ToSingle(data, offset + 48);
m.EastingDeviation = BitConverter.ToSingle(data, offset + 52);
m.HeightDeviation = BitConverter.ToSingle(data, offset + 56);
m.StationID = BitConverter.ToUInt32(data, offset + 60);
m.DifferentialAge = BitConverter.ToSingle(data, offset + 64);
m.SolutionAge = BitConverter.ToSingle(data, offset + 68);
m.SatelliteCount = data[offset + 72];
m.SatellitesUsed = data[offset + 73];
m.L1Used = data[offset + 74];
m.L1L2Used = data[offset + 75];
m.ExtraSolutionStatus = (Novatel.ExtraSolutionStatus)data[offset + 77];
m.SignalMask = (Novatel.SignalMask)data[offset + 79];
result = m;
}
break;
case Novatel.MessageID.Heading:
{
Novatel.HeadingMessage m = new Novatel.HeadingMessage();
m.SolutionStatus = (Novatel.SolutionStatus)BitConverter.ToUInt32(data, offset);
m.PositionType = (Novatel.PositionType)BitConverter.ToUInt32(data, offset + 4);
m.Length = BitConverter.ToSingle(data, offset + 8);
m.Heading = BitConverter.ToSingle(data, offset + 12);
m.Pitch = BitConverter.ToSingle(data, offset + 16);
m.HeadingDeviation = BitConverter.ToSingle(data, offset + 24);
m.PitchDeviation = BitConverter.ToSingle(data, offset + 28);
m.StationID = BitConverter.ToUInt32(data, offset + 32);
m.SatelliteCount = data[offset + 36];
m.SatellitesUsed = data[offset + 37];
m.SatellitesAboveMask = data[offset + 38];
m.SatellitesAboveMaskL2 = data[offset + 39];
m.ExtraSolutionStatus = (Novatel.ExtraSolutionStatus)data[offset + 41];
m.SignalMask = (Novatel.SignalMask)data[offset + 43];
result = m;
}
break;
case Novatel.MessageID.BslnXYZ:
{
Novatel.BaselineXYZMessage m = new Novatel.BaselineXYZMessage();
m.SolutionStatus = (Novatel.SolutionStatus)BitConverter.ToUInt32(data, offset);
m.PositionType = (Novatel.PositionType)BitConverter.ToUInt32(data, offset + 4);
m.X = BitConverter.ToDouble(data, offset + 8);
m.Y = BitConverter.ToDouble(data, offset + 16);
m.Z = BitConverter.ToDouble(data, offset + 24);
m.XDeviation = BitConverter.ToSingle(data, offset + 32);
m.YDeviation = BitConverter.ToSingle(data, offset + 36);
m.ZDeviation = BitConverter.ToSingle(data, offset + 40);
m.StationID = BitConverter.ToUInt32(data, offset + 44);
m.SatelliteCount = data[offset + 48];
m.SatellitesUsed = data[offset + 49];
m.L1Used = data[offset + 50];
m.L1L2Used = data[offset + 51];
m.ExtraSolutionStatus = (Novatel.ExtraSolutionStatus)data[offset + 53];
m.SignalMask = (Novatel.SignalMask)data[offset + 55];
result = m;
}
break;
case Novatel.MessageID.PassAUX:
case Novatel.MessageID.PassCom1:
case Novatel.MessageID.PassCom2:
case Novatel.MessageID.PassCom3:
case Novatel.MessageID.PassUSB1:
case Novatel.MessageID.PassUSB2:
case Novatel.MessageID.PassUSB3:
case Novatel.MessageID.PassXCom1:
case Novatel.MessageID.PassXCom2:
case Novatel.MessageID.PassXCom3:
{
Novatel.PassMessage m = new Novatel.PassMessage();
m.Size = BitConverter.ToUInt32(data, offset);
m.Bytes = new byte[m.Size];
Array.Copy(data, offset + 4, m.Bytes, 0, m.Size);
result = m;
}
break;
default:
{
result = new Novatel.Message();
}
break;
}
result.Header = h;
if (MessageReceived != null)
{
MessageReceived(this, new NovatelEventArgs(result));
}
}