private void ContinueEnumerate()
{
bool isStarted = false;
if (portNames != null)
{
while ((!isStarted) && (curPortIdx < portNames.Length))
{
isStarted = CheckNextPort();
curPortIdx++;
}
}
timer.Start();
}
public static void Run()
{
PrecisionTimer timer = new PrecisionTimer();
Random rand = new Random();
int a, b, c = 0;
timer.Start();
for (int i = 0; i < 100000; i++)
{
a = rand.Next();
b = rand.Next();
if (a > b)
{
c = a;
b = c;
}
else
{
c = b;
b = a;
}
}
timer.Stop();
Console.WriteLine(c);
Console.WriteLine(timer.ElapsedSeconds);
timer.Reset();
timer.Start();
for (int i = 0; i < 100000; i++)
{
a = rand.Next();
b = rand.Next();
c = a > b ? a : b;
b = a > b ? c : a;
}
timer.Stop();
Console.WriteLine(c);
Console.WriteLine(timer.ElapsedSeconds);
Console.ReadLine();
}
public void Open()
{
while (Interlocked.CompareExchange(ref portLock, 1, 0) != 0)
{
Thread.SpinWait(1);
}
port.Open();
timer.Start();
Interlocked.Decrement(ref portLock);
}
private bool RequestDevInfo()
{
InvokeWriteStateLbl("Querying");
InvokeWriteLogString("Querying device info...\r\n");
InvokeSwitchProgressBarMode(ProgressBarStyle.Marquee);
bool result = false;
var cmdStr = NMEAParser.BuildProprietarySentence(ManufacturerCodes.UCN, "L", new object[] { (int)UCNL_SRV_CMD.DEV_INFO_GET, 0, "" });
try
{
nmeaPort.SendData(cmdStr);
result = true;
timer.Start();
InvokeWriteLogString(string.Format(">> {0}", cmdStr));
}
catch (Exception ex)
{
ProcessException(ex, false);
}
return(result);
}
public static void Run()
{
PrecisionTimer timer = new PrecisionTimer();
PagedArray <int> paged = new PagedArray <int>(2, 64);
int[] normy = new int[2048];
normy[0] = 1;
normy[15] = 1;
paged[0] = 1;
paged[15] = 1;
for (int i = 0; i < 1; i++)
{
timer.Reset();
timer.Start();
Array.Copy(normy, 0, normy, 34, 16);
timer.Stop();
}
Console.WriteLine(timer.ElapsedSecondsF);
paged[50] = 0;
for (int i = 0; i < 1; i++)
{
timer.Reset();
timer.Start();
paged.CopyData(0, 16, 34);
timer.Stop();
}
Console.WriteLine(timer.ElapsedSecondsF);
Console.ReadLine();
}
public void Start()
{
if (!timer.IsRunning)
{
t = 0;
foreach (var item in speedFunctions)
{
direction = 1;
zcoordinates[item.Key] = 0;
zmaxPoints[item.Key] = -1;
speeds[item.Key] = speedFunctions[item.Key](0);
}
timer.Start();
}
}
public static void Run()
{
PrecisionTimer timer = new PrecisionTimer();
//CompleteBinarySearchTree<int> test = new CompleteBinarySearchTree<int>(10, 1);
int count = 16384;
//timer.Start();
//for (int i = 0; i < count; i++)
// test.Add(i, i);
//timer.Stop();
double time = timer.ElapsedSeconds / count;
int[] testArray = new int[count];
PagedArray <int> testPaged = new PagedArray <int>(14, 1);
testPaged[int.MaxValue] = 1;
int a = 0;
IEnumerator <int> enumer = testPaged.GetEnumerator();
timer.Reset();
//Console.ReadLine();
timer.Start();
while (enumer.MoveNext())
//foreach (int i in testArray)
{
//timer.Stop();
//Console.WriteLine(i);
//timer.Start();
a = enumer.Current;
//a = i;
}
timer.Stop();
//Console.WriteLine(a);
//Console.WriteLine(time);
//Console.WriteLine(time * count);
//Console.WriteLine(time / (1.0 / 60.0) * 100);
Console.WriteLine(timer.ElapsedSeconds / count);
Console.WriteLine(timer.ElapsedSeconds);
Console.WriteLine(timer.ElapsedSeconds / (1.0 / 60.0) * 100);
Console.WriteLine(1.0 / 60.0);
Console.ReadLine();
}
// Handles the subscriber's NewMeasurements event.
private void DataSubscriber_NewMeasurements(object sender, EventArgs <ICollection <IMeasurement> > e)
{
// Gather statistics.
Interlocked.Add(ref m_measurementCount, e.Argument.Count);
// Queue the measurements up in the buffer.
foreach (IMeasurement measurement in e.Argument)
{
if (m_channelIndexes.ContainsKey(measurement.ID))
{
// Perform a rough per signal upsample if minimum sample rate is not met
if (m_sampleRate < MINIMUM_SAMPLE_RATE)
{
IMeasurement upsampledMeasurement;
double frequency = measurement.Value;
for (int i = 0; i < MINIMUM_SAMPLE_RATE / m_sampleRate; i++)
{
upsampledMeasurement = Measurement.Clone(measurement);
upsampledMeasurement.Value = Timbre.PureTone(frequency, i, 0, MINIMUM_SAMPLE_RATE) * Damping.Natural(i, MINIMUM_SAMPLE_RATE / m_sampleRate, MINIMUM_SAMPLE_RATE) * (Int16.MaxValue * 0.90D);
m_buffer.Enqueue(upsampledMeasurement);
}
}
else
{
m_buffer.Enqueue(measurement);
}
}
}
// If we've managed to buffer a full second of data,
// stop the timeout timer and start the dump timer.
// The dump timer is sending measurements to the sound card
// so change the playback state to playing.
if (m_dumpTimer != null && !m_dumpTimer.IsRunning && m_buffer.Count / 2 > m_sampleRate)
{
if (m_timeoutTimer != null)
{
m_timeoutTimer.Stop();
}
m_dumpTimer.Start();
OnStateChanged(PlaybackState.Playing);
}
}
private void isSERModeChb_CheckedChanged(object sender, EventArgs e)
{
if (isSERMode)
{
echoerModeChb.Enabled = false;
sendOnceBtn.Enabled = false;
testMessageTxb.Enabled = false;
timCnt = 0;
timer.Start();
}
else
{
timer.Stop();
testMessageTxb.Enabled = true;
echoerModeChb.Enabled = true;
sendOnceBtn.Enabled = true;
}
}
private void SynchronizeInputTimer(object state)
{
// Start timer at as close to the top of the millisecond as possible
bool repeat = true;
long last = 0, next;
while (repeat)
{
next = DateTime.UtcNow.Ticks % Ticks.PerMillisecond % 1000;
repeat = (next > last);
last = next;
}
m_lastMissedWindowTime = 0;
m_missedPublicationWindows = 0;
if ((object)m_timer != null)
{
m_timer.Start();
}
}
public static void Run()
{
int threadCount = Environment.ProcessorCount;
Thread[] threads = new Thread[threadCount];
Primes = new long[threadCount];
barrier = new Barrier(threadCount);
threads[0] = Thread.CurrentThread;
PrecisionTimer timer = new PrecisionTimer();
for (int i = 1; i < threadCount; i++)
{
threads[i] = new Thread(ThreadMethodBarrier);
}
timer.Reset();
timer.Start();
for (int j = 1; j < threadCount; j++)
{
threads[j].Start(j);
}
for (int i = 0; i < 1000; i++)
{
Primes[0] = FindPrimeNumber(10000);
barrier.SignalAndWait();
}
Running = false;
timer.Stop();
Console.WriteLine("Barrier Time: " + (timer.ElapsedSecondsF / 1000));
Console.WriteLine("Primes Found");
for (int i = 0; i < threadCount; i++)
{
Console.WriteLine(Primes[i]);
}
Console.ReadLine();
}
public void Start()
{
timer.Start();
}
private void OnAppStateChanged(AppState state)
{
switch (state)
{
case AppState.PORT_ABSENT:
{
portNameCbx.Enabled = false;
openClosePortBtn.Enabled = false;
deviceInfoGroup.Enabled = false;
buoyAddressGroup.Enabled = false;
statusLbl.Text = "No ports available";
break;
}
case AppState.PORT_OPENED:
{
portNameCbx.Enabled = false;
openClosePortBtn.Text = "Close";
deviceInfoGroup.Enabled = false;
buoyAddressGroup.Enabled = false;
statusLbl.Text = "Port opened";
var message = NMEAParser.BuildProprietarySentence(ManufacturerCodes.TNT, "4", new object[] { LOC_DATA_INFO.LOC_DATA_DEVICE_INFO, 0 });
if (!TrySend(message))
{
State = AppState.PORT_CLOSED;
}
else
{
State = AppState.DEV_INFO_QUERIED;
}
break;
}
case AppState.PORT_ERROR:
{
if (timer.IsRunning)
{
timer.Stop();
}
statusLbl.Text = "Port error";
break;
}
case AppState.PORT_CLOSED:
{
if (timer.IsRunning)
{
timer.Stop();
}
portNameCbx.Enabled = true;
openClosePortBtn.Text = "Open";
openClosePortBtn.Enabled = true;
deviceInfoGroup.Enabled = false;
buoyAddressGroup.Enabled = false;
statusLbl.Text = "Port closed";
break;
}
case AppState.DEV_INFO_QUERIED:
{
statusLbl.Text = "Device info queried...";
timer.Start();
break;
}
case AppState.DEV_INFO_RECEIVED:
{
if (timer.IsRunning)
{
timer.Stop();
}
deviceInfoGroup.Enabled = true;
statusLbl.Text = "Device info received";
string message = NMEAParser.BuildProprietarySentence(ManufacturerCodes.TNT, "7", new object[] { 0 });
if (TrySend(message))
{
State = AppState.DEV_SETTINGS_QUERIED;
timer.Start();
}
else
{
State = AppState.PORT_ERROR;
}
break;
}
case AppState.DEV_TIMEOUT:
{
statusLbl.Text = "Device timeout";
break;
}
case AppState.WRONG_DEVICE:
{
if (timer.IsRunning)
{
timer.Stop();
}
buoyAddressGroup.Enabled = false;
statusLbl.Text = "Connected device is not a RedBASE";
break;
}
case AppState.DEV_SETTINGS_QUERIED:
{
statusLbl.Text = "Settings queried...";
break;
}
case AppState.DEV_SETTINGS_RECEIVED:
{
if (timer.IsRunning)
{
timer.Stop();
}
buoyAddressGroup.Enabled = true;
statusLbl.Text = "Settings received";
break;
}
case AppState.DEV_SETTINGS_APPLY_QUERIED:
{
statusLbl.Text = "Settings apply queried...";
timer.Start();
break;
}
case AppState.DEV_SETTINGS_UPDATED:
{
if (timer.IsRunning)
{
timer.Stop();
}
statusLbl.Text = "Settings updated";
break;
}
default:
{
break;
}
}
}
public RWLT_Core(SerialPortSettings rwltPortSettings, double radialErrorThreshold, double simplexSize,
int courseEstimatorFIFOSize, int trkFilterFIFOSize)
{
#region parameters
var basesIDs = Enum.GetValues(typeof(BaseIDs));
foreach (BaseIDs baseID in basesIDs)
{
if (baseID != BaseIDs.BASE_INVALID)
{
BaseBatVoltages.Add(baseID, new AgingValue <double>(4, 10, svoltageFormatter));
BaseMSRs.Add(baseID, new AgingValue <double>(4, 10, msrFormatter));
}
}
HDOPState = new AgingValue <DOPState>(4, 10, x => x.ToString().ToUpperInvariant());
TBAState = new AgingValue <TBAQuality>(4, 10, x => x.ToString().Replace('_', ' ').ToUpperInvariant());
TargetLatitude = new AgingValue <double>(4, 10, latlonFormatter);
TargetLongitude = new AgingValue <double>(4, 10, latlonFormatter);
TargetLocationRadialError = new AgingValue <double>(4, 10, rerrFormatter);
TargetPressure = new AgingValue <double>(6, 10, prsFormatter);
TargetTemperature = new AgingValue <double>(60, 120, tempFormatter);
TargetBatVoltage = new AgingValue <double>(30, 120, svoltageFormatter);
TargetDepth = new AgingValue <double>(6, 10, dptdstFormatter);
TargetAlarm = new AgingValue <PingerCodeIDs>(600, 6000, pAlmFormatter);
DistanceToTarget = new AgingValue <double>(4, 10, dptdstFormatter);
ForwardAzimuthToTarget = new AgingValue <double>(4, 10, courseFormatter);
ReverseAzimuthToTarget = new AgingValue <double>(4, 10, courseFormatter);
TargetCourse = new AgingValue <double>(4, 10, courseFormatter);
AUXLatitude = new AgingValue <double>(4, 10, latlonFormatter);
AUXLongitude = new AgingValue <double>(4, 10, latlonFormatter);
AUXTrack = new AgingValue <double>(4, 10, courseFormatter);
AUXSpeed = new AgingValue <double>(4, 10, speedFormatter);
CEP = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
DRMS = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
DRMS2 = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
DRMS3 = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
#endregion
#region trkFilter
trkFilter = new TrackFilter(trkFilterFIFOSize);
#endregion
#region pCore
pCore = new PCore2D <GeoPoint3DT>(radialErrorThreshold, simplexSize, Algorithms.WGS84Ellipsoid, courseEstimatorFIFOSize);
pCore.RadialErrorExeedsThrehsoldEventHandler += new EventHandler(pCore_RadialErrorExeedsThresholdEventHandler);
pCore.TargetLocationUpdatedExHandler += new EventHandler <TargetLocationUpdatedExEventArgs>(pCore_TargetLocationUpdatedExEventHandler);
pCore.BaseQualityUpdatedHandler += new EventHandler <BaseQualityUpdatedEventArgs>(pCore_BaseQualityUpdatedEventHandler);
#endregion
#region basesProcessor
baseProcessor = new RWLT_BaseProcessor(4, 2.0);
#endregion
#region NMEA
if (!nmeaSingleton)
{
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.RWL);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.RWL, "A", "x,x.x,x.x,x.x,x.x,x,x.x,x.x,x.x");
}
#endregion
#region inPort
inPort = new NMEASerialPort(rwltPortSettings);
inPort.NewNMEAMessage += (o, e) =>
{
LogEvent.Rise(o, new LogEventArgs(LogLineType.INFO, string.Format("{0} (IN) >> {1}", inPort.PortName, e.Message)));
NMEAListener.ProcessIncoming(0, e.Message);
};
inPort.PortError += (o, e) => LogEvent.Rise(o, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (IN) >> {1}", inPort.PortName, e.EventType.ToString())));
#endregion
#region NMEAListener
NMEAListener = new NMEAMultipleListener();
NMEAListener.NMEAProprietaryUnsupportedSentenceParsed += new EventHandler <NMEAUnsupportedProprietaryEventArgs>(NMEAPSentenceReceived);
NMEAListener.RMCSentenceReceived += new EventHandler <RMCMessageEventArgs>(GNSS_RMCSentenceReceived);
#endregion
#region timer
timer = new PrecisionTimer();
timer.Period = 100;
timer.Tick += (o, e) =>
{
if (++systemUpdateTS > systemUpdateLimit)
{
systemUpdateTS = 0;
SystemUpdateEvent.Rise(this, new EventArgs());
}
if (inPort.IsOpen && (++inPortTimeoutTS > inPortTimeoutLimit))
{
inPortTimeoutTS = 0;
InPortTimeout = true;
LogEvent.Rise(this, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (IN) >> TIMEOUT", inPort.PortName)));
}
if (AUXGNSSUsed && auxGNSSPort.IsOpen && (++AUXGNSSTimeoutTS > AUXGNSSTimeoutLimit))
{
AUXGNSSTimeoutTS = 0;
AUXGNSSTimeout = true;
LogEvent.Rise(this, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (AUX) >> TIMEOUT", auxGNSSPort.PortName)));
}
};
timer.Start();
#endregion
statHelper = new List <GeoPoint>();
}
public static void Run(int entityCount, int componentCount)
{
PrecisionTimer timer = new PrecisionTimer();
List <int>[] componentLists = new List <int> [componentCount];
int[] requiredComponents = new int[componentCount];
Random rand = new Random();
for (int i = 0; i < componentCount; i++)
{
componentLists[i] = new List <int>(entityCount);
requiredComponents[i] = i;
}
for (int i = 0; i < entityCount; i++)
{
for (int j = 0; j < componentCount; j++)
{
if (rand.Next(10) > 5)
{
componentLists[j].Add(i);
}
}
}
Console.WriteLine("Time to Create Entity : " + timer.ElapsedSeconds);
timer.Reset();
List <int[]> components = new List <int[]>();
timer.Reset();
timer.Start();
int[] place = new int[requiredComponents.Length];
bool done = false;
for (place[0] = 0; place[0] < componentLists[0].Count; place[0]++)
{
int count = 1;
int val = componentLists[0][place[0]];
for (int i = 1; i < place.Length; i++)
{
while (componentLists[i][place[i]] < val)
{
place[i]++;
if (place[i] == componentLists[i].Count)
{
done = true;
break;
}
}
if (done)
{
break;
}
if (componentLists[i][place[i]] > val)
{
break;
}
count++;
}
if (done)
{
break;
}
if (count == place.Length)
{
components.Add(place);
}
}
timer.Stop();
Console.WriteLine("Time for Component Worst Case: " + timer.ElapsedSeconds);
Console.ReadLine();
}
public static void Run()
{
PrecisionTimer timer = new PrecisionTimer();
Random rand = new Random();
int[] ID1 = new int[100000];
int[] ID2 = new int[1000];
Console.WriteLine("Set Equivalence Test");
for (int i = 0; i < ID1.Length; i++)
{
ID1[i] = rand.Next();
if (i < ID2.Length)
{
ID2[i] = ID1[i];
}
}
bool found = false;
timer.Start();
for (int i = 0; i < ID1.Length; i++)
{
found = false;
for (int j = 0; j < ID2.Length; j++)
{
if (ID1[i] == ID2[j])
{
found = true;
break;
}
}
if (!found)
{
break;
}
}
timer.Stop();
Console.WriteLine(found);
Console.WriteLine(timer.ElapsedSeconds);
timer.Reset();
timer.Start();
found = ID1.All((i) => { return(ID2.Contains(i)); });
timer.Stop();
Console.WriteLine(found);
Console.WriteLine(timer.ElapsedSeconds);
timer.Reset();
timer.Start();
found = ID1.All((i) => { return(ID2.Any((j) => { return i == j; })); });
timer.Stop();
Console.WriteLine(found);
Console.WriteLine(timer.ElapsedSeconds);
timer.Reset();
timer.Start();
//Fastest in worst case
found = !ID1.Any((i) => { return(!ID2.Contains(i)); });
timer.Stop();
Console.WriteLine(found);
Console.WriteLine(timer.ElapsedSeconds);
timer.Reset();
for (int i = 0; i < ID2.Length; i++)
{
ID2[i] = rand.Next();
}
timer.Start();
//fastest in best case
for (int i = 0; i < ID1.Length; i++)
{
found = false;
for (int j = 0; j < ID2.Length; j++)
{
if (ID1[i] == ID2[j])
{
found = true;
break;
}
}
if (!found)
{
break;
}
}
timer.Stop();
Console.WriteLine(found);
Console.WriteLine(timer.ElapsedSeconds);
timer.Reset();
timer.Start();
found = ID1.All((i) => { return(ID2.Contains(i)); });
timer.Stop();
double temp = timer.ElapsedSeconds;
Console.WriteLine(found);
Console.WriteLine(timer.ElapsedSeconds);
timer.Reset();
timer.Start();
found = ID1.All((i) => { return(ID2.Any((j) => { return i == j; })); });
timer.Stop();
Console.WriteLine(found);
Console.WriteLine(timer.ElapsedSeconds);
timer.Reset();
//
//
// Best in Worst Case and Close 2nd in Best Case
//
//
timer.Start();
found = !ID1.Any((i) => { return(!ID2.Contains(i)); });
timer.Stop();
Console.WriteLine(found);
Console.WriteLine(timer.ElapsedSeconds);
Console.WriteLine(timer.ElapsedSeconds / temp * 100);
timer.Reset();
Console.ReadLine();
}
public void Open()
{
InitDeviceInformation();
port.Open();
timer.Start();
}
public MainForm()
{
InitializeComponent();
#region filenames
DateTime startTime = DateTime.Now;
settingsFileName = Path.ChangeExtension(Application.ExecutablePath, "settings");
loggerFileName = StrUtils.GetTimeDirTreeFileName(startTime, Application.ExecutablePath, "LOG", "log", true);
snapshotsPath = StrUtils.GetTimeDirTree(startTime, Application.ExecutablePath, "SNAPSHOTS", false);
#endregion
#region logger
logger = new TSLogProvider(loggerFileName);
logger.WriteStart();
logger.TextAddedEvent += (o, e) =>
{
if (geoPlotCartesian.InvokeRequired)
{
geoPlotCartesian.Invoke((MethodInvoker) delegate
{
geoPlotCartesian.AppendHistoryLine(e.Text);
geoPlotCartesian.Invalidate();
});
}
else
{
geoPlotCartesian.AppendHistoryLine(e.Text);
geoPlotCartesian.Invalidate();
}
};
#endregion
#region settingsProvider
settingsProvider = new SimpeSettingsProviderXML <SettingsContainer>();
settingsProvider.isSwallowExceptions = false;
try
{
settingsProvider.Load(settingsFileName);
}
catch (Exception ex)
{
ProcessException(ex, true);
}
settingsProvider.isSwallowExceptions = true;
logger.Write(settingsProvider.Data.ToString());
#endregion
#region NMEA
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.VLB);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.VLB, "L", "x.x,x.x,x.x,x.x,x,x.x,x.x,x.x");
#endregion
#region agingValues
targetLatitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°", x));
targetLongitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LON: {0:F06}°", x));
targetRadialError = new AgingValue <double>(3, 300, (x) => string.Format(CultureInfo.InvariantCulture, "RER: {0:F03} m", x));
targetTemperature = new AgingValue <double>(3, 600, (x) => string.Format(CultureInfo.InvariantCulture, "TMP: {0:F01} °C", x));
targetDepth = new AgingValue <double>(3, 60, (x) => string.Format(CultureInfo.InvariantCulture, "DPT: {0:F03} m", x));
targetBatVoltage = new AgingValue <double>(3, 300, (x) => string.Format(CultureInfo.InvariantCulture, "BAT: {0:F01} V", x));
targetMSR = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "MSR: {0:F01} dB", x));
targetPTime = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "TIM: {0:F04} sec", x));
ownLatitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°", x));
ownLongitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LON: {0:F06}°", x));
ownDepth = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "DPT: {0:F03} m", x));
ownBatteryVoltage = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "BAT: {0:F01} V", x));
#endregion
#region geoPlotCartesian
geoPlotCartesian.AddTrack("Rover", Color.Gray, 2, 2, settingsProvider.Data.MeasurementsFIFOSize, true);
geoPlotCartesian.AddTrack("Measurements", Color.Blue, 2, 2, settingsProvider.Data.MeasurementsFIFOSize, true);
geoPlotCartesian.AddTrack("Reference point", Color.Magenta, 4, 4, 1, false);
geoPlotCartesian.AddTrack("Base", Color.Green, 4, 4, settingsProvider.Data.BaseSize, false);
geoPlotCartesian.AddTrack("Target", Color.Red, 6, 6, settingsProvider.Data.TargetLocationFIFOSize, true);
#endregion
#region vlblCore
vlblCore = new VLBLCore <VLBLTOAMeasurement>(settingsProvider.Data.MeasurementsFIFOSize,
settingsProvider.Data.BaseSize,
settingsProvider.Data.RadialErrorThreshold,
settingsProvider.Data.SimplexSize,
UCNLNav.Algorithms.WGS84Ellipsoid);
vlblCore.BaseUpdatedEventHandler += (o, e) => { UpdateTrack("Base", e.BasePoints); };
vlblCore.ReferencePointUpdatedEventHandler += (o, e) => { UpdateTrack("Reference point", vlblCore.ReferencePoint); };
vlblCore.TargetPositionUpdatedEventHandler += (o, e) =>
{
UpdateTrack("Target", e.TargetPosition);
if (InvokeRequired)
{
Invoke((MethodInvoker) delegate
{
targetLatitude.Value = e.TargetPosition.Latitude;
targetLongitude.Value = e.TargetPosition.Longitude;
targetRadialError.Value = e.RadialError;
});
}
else
{
targetLatitude.Value = e.TargetPosition.Latitude;
targetLongitude.Value = e.TargetPosition.Longitude;
targetRadialError.Value = e.RadialError;
}
};
#endregion
#region tracks
tracks = new Dictionary <string, List <GeoPoint3D> >();
#endregion
#region InPort
inPort = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.InPortName, settingsProvider.Data.InPortBaudrate,
System.IO.Ports.Parity.None,
DataBits.dataBits8,
System.IO.Ports.StopBits.One,
System.IO.Ports.Handshake.None));
inPort.NewNMEAMessage += new EventHandler <NewNMEAMessageEventArgs>(inPort_NewNMEAMessage);
#endregion
#region OutPort
if (settingsProvider.Data.IsUseOutPort)
{
outPort = new SerialPort(settingsProvider.Data.OutPortName, (int)settingsProvider.Data.OutPortBaudrate);
}
#endregion
#region timer
timer = new PrecisionTimer();
timer.Period = 1000;
timer.Mode = Mode.Periodic;
timer.Tick += new EventHandler(timer_Tick);
timer.Start();
#endregion
}
public bool StartImageStream()
{
bool retVal = false;
if (imageStream != null && imageStream.IsEnabled)
{
tbFramePosition.Minimum = 0;
imageStream.CurrentFrame = 0;
tbFramePosition.Maximum = imageStream.FrameCount;
if (tbFramePosition.Maximum > 0)
{
tbFramePosition.Value = 0;
}
cmdPlay.Enabled = true;
cmdPause.Enabled = true;
cmdStop.Enabled = true;
cmdRecord.Enabled = true;
if (imageStream.FrameRate > 0)
{
targetfps = (int)imageStream.FrameRate;
spf = 1000 / (int)imageStream.FrameRate;
}
else
{
targetfps = FRAME_RATE;
spf = 1000 / FRAME_RATE;
}
udFrameRate.TextBoxText = targetfps.ToString("0");
lblHeight.Text = "Image Height: " + imageStream.FrameHeight.ToString("0");
lblWidth.Text = "Image Width: " + imageStream.FrameWidth.ToString("0");
imageStream.StartReading();
//wait until the reader buffer fills up
while (imageStream.ReadBufferFullness < 99) //start with a 100% full buffer
{
Thread.Sleep(100);
}
if(imageStream.FrameCount <= 0)
{
lblMovieProgress.Text = "Live streaming";
lblMovieProgress.Enabled = false;
tbFramePosition.Enabled = false;
}
else
{
lblMovieProgress.Enabled = true;
tbFramePosition.Enabled = true;
}
lblMovieProgress.Invalidate();
isStopped = false;
cmdPause.Checked = false;
cmdRecord.Checked = false;
isRecording = false;
tbFramePosition.Left = gbTrainingSet.Left;
renderTimer = new PrecisionTimer(spf, this);
renderTimer.Start();
videoStart = DateTime.Now;
retVal = imageStream.IsEnabled;
}
else
{
isStopped = true;
cmdPause.Checked = false;
cmdRecord.Checked = false;
isRecording = true;
cmdPlay.Enabled = false;
cmdPause.Enabled = false;
cmdStop.Enabled = false;
cmdRecord.Enabled = false;
}
return retVal;
}
public void Start()
{
Reset();
timer.Start();
}
public MainForm()
{
InitializeComponent();
this.Text = string.Format("{0}", Application.ProductName);
#region file names & paths
DateTime startTime = DateTime.Now;
settingsFileName = Path.ChangeExtension(Application.ExecutablePath, "settings");
logPath = Path.Combine(Path.GetDirectoryName(Application.ExecutablePath), "LOG");
logFileName = StrUtils.GetTimeDirTreeFileName(startTime, Application.ExecutablePath, "LOG", "log", true);
snapshotsPath = StrUtils.GetTimeDirTree(startTime, Application.ExecutablePath, "SNAPSHOTS", false);
#endregion
#region logger
loggerTextAddedEventHandler = new EventHandler <TextAddedEventArgs>(logger_TextAdded);
logger = new TSLogProvider(logFileName);
logger.TextAddedEvent += loggerTextAddedEventHandler;
logger.WriteStart();
#endregion
#region settings
logger.Write("Loading settings...");
settingsProvider = new SettingsProviderXML <SettingsContainer>();
settingsProvider.isSwallowExceptions = false;
try
{
settingsProvider.Load(settingsFileName);
}
catch (Exception ex)
{
ProcessException(ex, true);
}
logger.Write(settingsProvider.Data.ToString());
gtr_RemoteTimeout_S = Convert.ToInt32((GTR.MIN_REM_TOUT_MS / 1000) + 2 * (double)settingsProvider.Data.MaxDistance / 1500) + 1;
#endregion
#region NMEA
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.TNT);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "0", "x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "1", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "2", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "3", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "4", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "5", "x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "6", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "7", "x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "8", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "9", "x,x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "A", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "B", "x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "C", "x,x.x,x.x,x.x,x.x,x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "D", "x,x,x.x,x.x,x.x,x.x,x.x,x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "E", "x,x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "!", "c--c,x,c--c,x,x,c--c");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "O", "x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.TNT, "P", "x,x.x");
/*
#define IC_D2H_ACK '0' // $PTNT0,errCode
#define IC_H2D_FLD_GET '1' // $PTNT1,fldID,reserved
#define IC_H2D_FLD_SET '2' // $PTNT2,fldID,fldNewValue
#define IC_D2H_FLD_VAL '3' // $PTNT3,fldID,fldValue
#define IC_H2D_LOC_DATA_GET '4' // $PTNT4,locDataID,reserved
#define IC_D2H_LOC_DATA_VAL '5' // $PTNT5,locDataID,locDataValue
#define IC_H2D_ACT_INVOKE '6' // $PTNT6,actionID,reserved
#define IC_H2D_LOC_DATA_SET '7' // $PTNT7,locDataID,locDataValue
#define IC_H2D_REM_SEND '8' // $PTNT8,targetAddr,codeMsg
#define IC_D2H_REM_RECEIVED '9' // $PTNT9,codeMsg,snrd,dpl
#define IC_H2D_REM_PING 'A' // $PTNTA,targetAddr,timeoutMs
#define IC_D2H_REM_TOUT 'B' // $PTNTB,targetAddr
#define IC_D2H_REM_PONG 'C' // $PTNTC,requestedAddr,snrd,dpl,pTime,[dst],[dpt],[tmp]
#define IC_D2H_REM_PONGEX 'D' // $PTNTD,requestedAddr,requestedCmd,receivedValue_decoded,snrd,dpl,pTime,[dst],[dpt],[tmp]
#define IC_H2D_REM_PINGEX 'E' // $PTNTE,targetAddr,requestedCmd,timeoutMs
#define IC_D2H_DEV_INFO_VAL '!' // $PTNT!,sys_moniker,sys_ver,dev_type,core_moniker,core_ver,dev_serial_num
#define IC_D2H_PRETMP_VAL 'O' // $PTNTO,pressure_mbar,temp_deg_c
#define IC_H2D_SETVAL 'P' // $PTNTP,valueID,value
*/
#endregion
#region other
gtrPortErrorEventHandler = new EventHandler <SerialErrorReceivedEventArgs>(gtrPort_Error);
gtrPortNewNMEAMessageEventHandler = new EventHandler <NewNMEAMessageEventArgs>(gtrPort_NewNMEAMessage);
gtrPort = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.GTRPortName, BaudRate.baudRate9600,
System.IO.Ports.Parity.None, DataBits.dataBits8, System.IO.Ports.StopBits.One, System.IO.Ports.Handshake.None));
gtrPort.IsRawModeOnly = false;
timerTickHandler = new EventHandler(timer_Tick);
timer = new PrecisionTimer();
timer.Mode = Mode.Periodic;
timer.Period = 1000;
timer.Tick += timerTickHandler;
timer.Start();
if (settingsProvider.Data.IsGNSSEmulator)
{
gnssEmulatorPort = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.GNSSEmulatorPortName, BaudRate.baudRate9600,
Parity.None, DataBits.dataBits8, StopBits.One, Handshake.None));
}
measurements = new Measurements(settingsProvider.Data.MeasurementsFIFOSize, settingsProvider.Data.BaseSize);
bLatitude = new AgingDouble("F06", "°");
bLongitude = new AgingDouble("F06", "°");
bTemperature = new AgingDouble("F01", "°C");
bDepth = new AgingDouble("F03", " m");
tTemperature = new AgingDouble("F01", "°C");
tDepth = new AgingDouble("F02", " m");
tLatitude = new AgingDouble("F06", "°");
tLongitude = new AgingDouble("F06", "°");
tRadialError = new AgingDouble("F03", " m");
tLocation = new List <GeoPoint3DWE>();
bLocation = new List <GeoPoint>();
tBestLocation = new GeoPoint3DWE();
tBestLocation.Latitude = double.NaN;
tBestLocation.Longitude = double.NaN;
tBestLocation.RadialError = double.NaN;
marinePlot.InitTracks(settingsProvider.Data.MeasurementsFIFOSize);
marinePlot.AddTrack("BOAT GNSS", Color.Blue, 2.0f, 2, settingsProvider.Data.MeasurementsFIFOSize, true);
marinePlot.AddTrack("BASE", Color.Salmon, 2.0f, 8, settingsProvider.Data.BaseSize, false);
marinePlot.AddTrack("MEASUREMENTS", Color.Green, 2.0f, 4, settingsProvider.Data.MeasurementsFIFOSize, false);
marinePlot.AddTrack("TARGET", Color.Black, 2.0f, 4, settingsProvider.Data.MeasurementsFIFOSize, false);
marinePlot.AddTrack("BEST", Color.Red, 2.0f, 8, 1, false);
#endregion
}
void Run(SystemInfo[] systems, SystemType type, double time, int laneCount)
{
int typeCount = 0;
double averageTime = 0;
PrecisionTimer processTimer = new PrecisionTimer();
PrecisionTimer unitTimer = new PrecisionTimer();
Console.WriteLine("Test 1 - Adding All Systems at Once");
for (int i = 0; i < systems.Length; i++)
{
if (systems[i].Type == type)
{
typeCount++;
}
}
SafeSystemSchedule schedule = new SafeSystemSchedule(SystemType.Logic, laneCount, typeCount);
processTimer.Start();
for (int i = 0; i < systems.Length; i++)
{
unitTimer.Start();
SystemInfo sysInf = systems[i];
if (!sysInf.Active || sysInf.Type != type)
{
unitTimer.Stop();
averageTime = MathHelper.MovingAverage(averageTime, unitTimer.ElapsedSeconds, i + 1);
unitTimer.Reset();
continue;
}
schedule.Add(sysInf);
unitTimer.Stop();
processTimer.Stop();
averageTime = MathHelper.MovingAverage(averageTime, unitTimer.ElapsedSeconds, i + 1);
unitTimer.Reset();
processTimer.Start();
}
processTimer.Stop();
Console.WriteLine("Total Time to Register : " + processTimer.ElapsedSeconds);
Console.WriteLine("Average Time to Register : " + averageTime);
Console.WriteLine("Extrapolated Time to Register : " + (averageTime * systems.Length));
Console.WriteLine("Extrapolated Time without nonTypes : " + (averageTime * typeCount));
processTimer.Reset();
Console.ReadLine();
Console.WriteLine("=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=");
Console.WriteLine("Test 2 - Adding Each System One at a Time");
averageTime = 0;
schedule.Clear();
processTimer.Start();
for (int i = 0; i < systems.Length; i++)
{
unitTimer.Start();
SystemInfo sysInf = systems[i];
if (!sysInf.Active || sysInf.Type != type)
{
unitTimer.Stop();
averageTime = MathHelper.MovingAverage(averageTime, unitTimer.ElapsedSeconds, i + 1);
unitTimer.Reset();
continue;
}
schedule.Add(sysInf);
unitTimer.Stop();
processTimer.Stop();
averageTime = MathHelper.MovingAverage(averageTime, unitTimer.ElapsedSeconds, i + 1);
unitTimer.Reset();
while (schedule.NextSystem(0, out SystemInfo sysInfo) != ScheduleResult.Finished)
{
sysInfo.Age = 1;
}
processTimer.Start();
}
processTimer.Stop();
Console.WriteLine("Total Time to Register : " + processTimer.ElapsedSeconds);
Console.WriteLine("Average Time to Register : " + averageTime);
Console.WriteLine("Extrapolated Time to Register : " + (averageTime * systems.Length));
Console.WriteLine("Extrapolated Time without nonTypes : " + (averageTime * typeCount));
processTimer.Reset();
Console.ReadLine();
Console.WriteLine("=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=");
Console.WriteLine("Test 3 - Clear List and Readd");
SafeSystemSchedule copy = new SafeSystemSchedule(schedule);
foreach (SystemInfo sysinf in systems)
{
SystemUpdate(sysinf);
}
processTimer.Start();
schedule.Clear();
for (int i = 0; i < systems.Length; i++)
{
SystemInfo sysInf = systems[i];
if (!sysInf.Active || sysInf.Type != type)
{
continue;
}
schedule.Add(sysInf);
}
processTimer.Stop();
while (schedule.NextSystem(0, out SystemInfo sysInfo) != ScheduleResult.Finished)
{
Console.WriteLine(sysInfo);
}
Console.WriteLine("Total Time to clear then readd : " + processTimer.ElapsedSeconds);
Console.ReadLine();
Console.WriteLine("=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=");
Console.WriteLine("Test 4 - Remove Individually and Register One at a time");
processTimer.Start();
copy.Reset();
for (int i = 0; i < systems.Length; i++)
{
SystemInfo sysInf = systems[i];
if (!sysInf.Active || sysInf.Type != type)
{
continue;
}
copy.Remove(sysInf);
copy.Add(sysInf);
}
processTimer.Stop();
while (copy.NextSystem(0, out SystemInfo sysInfo) != ScheduleResult.Finished)
{
Console.WriteLine(sysInfo);
}
Console.WriteLine("Total Time to remove then readd : " + processTimer.ElapsedSeconds);
Console.ReadLine();
Console.WriteLine("=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=");
Console.WriteLine("Test 5 - System Run");
schedule.Clear();
for (int i = 0; i < systems.Length; i++)
{
SystemInfo sysInf = systems[i];
if (!sysInf.Active || sysInf.Type != type)
{
continue;
}
schedule.Add(sysInf);
}
double currentTime = 0;
int finishCount = 0;
double[] endTimes = new double[laneCount];
bool[] finished = new bool[laneCount];
averageTime = 0;
processTimer.Start();
while (!schedule.Finished && currentTime < time && finishCount < laneCount)
{
for (int i = 0; i < laneCount; i++)
{
if (endTimes[i] <= currentTime && !finished[i])
{
unitTimer.Start();
schedule.FinishLane(i);
ScheduleResult result = schedule.NextSystem(i, out SystemInfo sysInf);
if (result == ScheduleResult.Supplied)
{
sysInf.Age = 0;
if (sysInf.AverageRunTime + currentTime > time)
{
finished[i] = true;
finishCount++;
unitTimer.Stop();
continue;
}
endTimes[i] = currentTime + sysInf.AverageRunTime;
}
else if (result == ScheduleResult.Finished)
{
finished[i] = true;
finishCount++;
}
unitTimer.Stop();
processTimer.Stop();
averageTime = MathHelper.MovingAverage(averageTime, unitTimer.ElapsedSeconds, i + 1);
unitTimer.Reset();
processTimer.Start();
}
}
processTimer.Stop();
double nextTime = double.PositiveInfinity;
for (int i = 0; i < laneCount; i++)
{
if (endTimes[i] > currentTime && endTimes[i] < nextTime)
{
nextTime = endTimes[i];
}
}
if (nextTime != double.PositiveInfinity)
{
currentTime = nextTime;
}
processTimer.Start();
}
processTimer.Stop();
Console.WriteLine("Total Time to decide : " + processTimer.ElapsedSeconds);
Console.WriteLine("Average Time to decide : " + averageTime);
Console.WriteLine("Extrapolated Time to decide : " + (averageTime * typeCount));
Console.WriteLine("Total Time Used : " + (currentTime) + "/" + time);
processTimer.Reset();
Console.ReadLine();
}
/// <summary>
/// Create a new <see cref="FrameRateTimer"/> class.
/// </summary>
/// <param name="framesPerSecond">Desired frame rate for <see cref="PrecisionTimer"/>.</param>
/// <param name="processingInterval">Desired processing interval, if applicable.</param>
/// <remarks>
/// When the <paramref name="processingInterval"/> is set to -1, the frame rate timer interval will be calculated as a distribution
/// of whole milliseonds over the specified number of <paramref name="framesPerSecond"/>. Otherwise the specified
/// <paramref name="processingInterval"/> will be used as the timer interval.
/// </remarks>
public FrameRateTimer(int framesPerSecond, int processingInterval)
{
if (processingInterval == 0)
throw new InvalidOperationException("A frame rate timer should not be created when using a processing interval of zero, i.e., processing data as fast as possible.");
m_framesPerSecond = framesPerSecond;
m_processingInterval = processingInterval;
// Create a new precision timer for this timer state
m_timer = new PrecisionTimer();
m_timer.AutoReset = true;
if (processingInterval > 0)
{
// Establish fixed timer period
m_timer.Period = processingInterval;
}
else
{
// Attach handler for timer period assignments
m_timer.Tick += SetTimerPeriod;
// Calculate distributed wait time periods over specified number of frames per second
m_framePeriods = new int[framesPerSecond];
for (int frameIndex = 0; frameIndex < framesPerSecond; frameIndex++)
{
m_framePeriods[frameIndex] = CalcWaitTimeForFrameIndex(frameIndex);
}
// Establish initial timer period
m_lastFramePeriod = m_framePeriods[0];
m_timer.Period = m_lastFramePeriod;
}
// Start timer
m_timer.Start();
}
public APLLBLCore(Dictionary <string, SerialPortSettings> inPortSettings,
double radialErrorThreshold, double simplexSize, int courseEstimatorFifoSize, int trackFilterSize)
{
#region misc. initialization
primaryGNSSFixRMC = new AgingValue <RMCMessageEventArgs>(2, 10,
x => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°\r\nLON: {1:F06}°\r\nSPD: {2:F01} m/s (3:F01 km/h)\r\nTRK: {4:F01}°",
x.Latitude, x.Longitude, x.SpeedKmh / 3.6, x.SpeedKmh, x.TrackTrue));
meanWaterTemperatureC = new AgingValue <double>(10, 30, x => string.Format(CultureInfo.InvariantCulture, "MTW: {0:F01} °C", x));
targetFix = new AgingValue <GeoPoint3DETm>(3, 60,
x => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°\r\nLON: {1:F06}°\r\nRER: {2:F03} m",
x.Latitude, x.Longitude, x.RadialError));
targetFixFlt = new AgingValue <GeoPoint3DETm>(3, 60,
x => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°\r\nLON: {1:F06}°",
x.Latitude, x.Longitude));
targetCourse = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "CRS: {0:F01}°", x));
distanceToTarget = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "D2T: {0:F01} m", x));
forwardAzimuthToTarget = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "FAZ: {0:F01}°", x));
reverseAzimuthToTarget = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "RAZ: {0:F01}°", x));
BaseBatStates = new Dictionary <BaseIDs, AgingValue <bool> >();
BaseBatStates.Add(BaseIDs.BASE_1, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
BaseBatStates.Add(BaseIDs.BASE_2, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
BaseBatStates.Add(BaseIDs.BASE_3, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
BaseBatStates.Add(BaseIDs.BASE_4, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
dopState = new AgingValue <DOPState>(4, 10, x => x.ToString().Replace('_', ' ').ToUpperInvariant());
tbaQuality = new AgingValue <TBAQuality>(4, 10, x => x.ToString().Replace('_', ' ').ToUpperInvariant());
#endregion
#region pCore
trkFilter = new TrackFilter(trackFilterSize);
pCore = new PCore2D <GeoPoint3DT>(radialErrorThreshold, simplexSize, Algorithms.WGS84Ellipsoid, courseEstimatorFifoSize);
pCore.RadialErrorExeedsThrehsoldEventHandler += (o, e) => InfoEventHandler.Rise(this, new LogEventArgs(LogLineType.INFO, "WAYU Pinger location failed: radial error exeeds threshold"));
pCore.TargetLocationUpdatedExHandler += (o, e) =>
{
targetFix.Value = new GeoPoint3DETm(e.Location.Latitude, e.Location.Longitude, e.Location.Depth, e.Location.RadialError, e.TimeStamp);
targetCourse.Value = e.Course;
var fltTrk = trkFilter.Filter(e.Location.Latitude, e.Location.Longitude);
targetFixFlt.Value = new GeoPoint3DETm(fltTrk.Latitude, fltTrk.Longitude, e.Location.Depth, e.Location.RadialError, e.TimeStamp);
if (primaryGNSSFixRMC.IsInitializedAndNotObsolete)
{
UpdateTargetRelativeData();
}
InfoEventHandler.Rise(this, new LogEventArgs(LogLineType.INFO,
string.Format(CultureInfo.InvariantCulture, "WAYU Pinger located: {0}, Course: {1:F01}°",
targetFixFlt, e.Course)));
TrackUpdateHandler.Rise(this,
new TrackUpdateEventArgs("WAYU (RAW)", targetFix.Value, e.Course));
TrackUpdateHandler.Rise(this,
new TrackUpdateEventArgs("WAYU (FLT)", targetFixFlt.Value, e.Course));
if ((outPort != null) &&
(outPort.IsOpen))
{
WriteOutData(targetFixFlt.Value.Latitude, targetFixFlt.Value.Longitude, 0.0, targetFix.Value.RadialError,
targetCourse.Value, targetFix.Value.RadialError <= pCore.RadialErrorThreshold);
}
SystemUpdate();
};
pCore.BaseQualityUpdatedHandler += (o, e) =>
{
dopState.Value = e.DopState;
tbaQuality.Value = e.TBAState;
};
#endregion
#region basesProcessor
basesProcessor = new APLBaseProcessor(4, 2.0);
#endregion
#region NMEA
if (!nmeaSingleton)
{
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.APL);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.APL, "A", "x,x.x,x.x,x.x,x,x.x");
nmeaSingleton = true;
}
#endregion
#region Port dictionaries
portDescrByHash = new Dictionary <int, string>();
portNameByHash = new Dictionary <int, string>();
portHashByDescr = new Dictionary <string, int>();
portTimoutFlags = new Dictionary <int, bool>();
portTSByHash = new Dictionary <int, int>();
portDescrByHash.Add(emuID, emuIDstr);
portNameByHash.Add(emuID, emuIDstr);
portHashByDescr.Add(emuIDstr, emuID);
#endregion
#region nmeaListener
nmeaListener = new NMEAMultipleListener();
nmeaListener.LogEventHandler += (o, e) => InfoEventHandler.Rise(o, e);
nmeaListener.NMEAIncomingMessageReceived += (o, e) => InfoEventHandler.Rise(o,
new LogEventArgs(LogLineType.INFO,
string.Format("{0} ({1}) >> {2}", portNameByHash[e.SourceID], portDescrByHash[e.SourceID], e.Message)));
nmeaListener.RMCSentenceReceived += new EventHandler <RMCMessageEventArgs>(nmeaListener_RMCSentenceReceivedHandler);
nmeaListener.MTWSentenceReceived += new EventHandler <MTWMessageEventArgs>(nmeaListener_MTWSentenceReceivedHandler);
nmeaListener.NMEAProprietaryUnsupportedSentenceParsed += new EventHandler <NMEAUnsupportedProprietaryEventArgs>(nmeaListener_NMEAUnsupportedProprietaryReceivedHander);
#endregion
#region inPorts
List <SerialPortSettings> portsList = new List <SerialPortSettings>();
foreach (var inPort in inPortSettings)
{
int portHash = inPort.Value.PortName.GetHashCode();
portDescrByHash.Add(portHash, inPort.Key);
portNameByHash.Add(portHash, inPort.Value.PortName);
portHashByDescr.Add(inPort.Key, portHash);
portTimoutFlags.Add(portHash, false);
portTSByHash.Add(portHash, 0);
portsList.Add(inPort.Value);
}
inPorts = new SerialPortsPool(portsList.ToArray());
inPorts.DataReceived += (o, e) =>
{
int portKey = e.PortName.GetHashCode();
portTSByHash[portKey] = 0;
if (portTimoutFlags[portKey])
{
portTimoutFlags[portKey] = false;
PortStateChangedHandler.Rise(this, new EventArgs());
}
nmeaListener.ProcessIncoming(portKey, e.Data);
};
inPorts.ErrorReceived += (o, e) => InfoEventHandler.Rise(o,
new LogEventArgs(LogLineType.ERROR,
string.Format("{0} ({1}) >> {2}", e.PortName, portDescrByHash[e.PortName.GetHashCode()], e.EventType.ToString())));
#endregion
#region timer
timer = new PrecisionTimer();
timer.Mode = Mode.Periodic;
timer.Period = 100;
timer.Tick += (o, e) =>
{
if (IsOpen)
{
int[] keys = new int[portTSByHash.Count];
portTSByHash.Keys.CopyTo(keys, 0);
for (int i = 0; i < keys.Length; i++)
{
portTSByHash[keys[i]] += timerPeriodMS;
if (portTSByHash[keys[i]] > portsTimeoutMS)
{
portTSByHash[keys[i]] = 0;
if (!portTimoutFlags[keys[i]])
{
portTimoutFlags[keys[i]] = true;
PortStateChangedHandler.Rise(this, new EventArgs());
}
}
}
}
systemUpdateTS += timerPeriodMS;
if (systemUpdateTS > systemUpdateTimeoutMS)
{
SystemUpdate();
}
};
timer.Start();
#endregion
}