/// <summary> /// Initializes a new instance of the <see cref="Rmc"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Rmc(string type, string[] message) : base(type, message) { if (message == null || message.Length < 11) { throw new ArgumentException("Invalid RMC", "message"); } if (message[8].Length == 6 && message[0].Length >= 6) { FixTime = new DateTimeOffset(int.Parse(message[8].Substring(4, 2), CultureInfo.InvariantCulture) + 2000, int.Parse(message[8].Substring(2, 2), CultureInfo.InvariantCulture), int.Parse(message[8].Substring(0, 2), CultureInfo.InvariantCulture), int.Parse(message[0].Substring(0, 2), CultureInfo.InvariantCulture), int.Parse(message[0].Substring(2, 2), CultureInfo.InvariantCulture), 0, TimeSpan.Zero).AddSeconds(double.Parse(message[0].Substring(4), CultureInfo.InvariantCulture)); } Active = (message[1] == "A"); Latitude = NmeaMessage.StringToLatitude(message[2], message[3]); Longitude = NmeaMessage.StringToLongitude(message[4], message[5]); Speed = NmeaMessage.StringToDouble(message[6]); Course = NmeaMessage.StringToDouble(message[7]); MagneticVariation = NmeaMessage.StringToDouble(message[9]); if (!double.IsNaN(MagneticVariation) && message[10] == "W") { MagneticVariation *= -1; } }
/// <summary> /// Initializes a new instance of the <see cref="Rma"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Rma(string type, string[] message) : base(type, message) { if (message == null || message.Length < 12) { throw new ArgumentException("Invalid RMA", "message"); } Status = message[0] == "A" ? PositioningStatus.Autonomous : (message[0] == "D" ? PositioningStatus.Differential : PositioningStatus.Invalid); Latitude = NmeaMessage.StringToLatitude(message[1], message[2]); Longitude = NmeaMessage.StringToLongitude(message[3], message[4]); if (double.TryParse(message[5], NumberStyles.Float, CultureInfo.InvariantCulture, out double tmp)) { TimeDifferenceA = TimeSpan.FromMilliseconds(tmp / 1000); } if (double.TryParse(message[6], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { TimeDifferenceB = TimeSpan.FromMilliseconds(tmp / 1000); } if (double.TryParse(message[7], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { Speed = tmp; } else { Speed = double.NaN; } if (double.TryParse(message[8], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { Course = tmp; } else { Course = double.NaN; } if (double.TryParse(message[9], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { MagneticVariation = tmp * (message[10] == "E" ? -1 : 1); } else { MagneticVariation = double.NaN; } switch (message[11]) { case "A": Mode = PositioningMode.Autonomous; break; case "D": Mode = PositioningMode.Autonomous; break; case "E": Mode = PositioningMode.Estimated; break; case "M": Mode = PositioningMode.Manual; break; case "S": Mode = PositioningMode.Simulator; break; case "N": default: Mode = PositioningMode.Autonomous; break; } }
/// <summary> /// Initializes a new instance of the <see cref="Rmb"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Rmb(string type, string[] message) : base(type, message) { if (message == null || message.Length < 13) { throw new ArgumentException("Invalid RMB", "message"); } Status = message[0] == "A" ? DataStatus.Ok : Rmb.DataStatus.Warning; double tmp; if (double.TryParse(message[1], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { CrossTrackError = tmp; if (message[2] == "L") //Steer left { CrossTrackError *= -1; } } else { CrossTrackError = double.NaN; } if (message[3].Length > 0) { OriginWaypointId = int.Parse(message[3], CultureInfo.InvariantCulture); } if (message[3].Length > 0) { DestinationWaypointId = int.Parse(message[4], CultureInfo.InvariantCulture); } DestinationLatitude = NmeaMessage.StringToLatitude(message[5], message[6]); DestinationLongitude = NmeaMessage.StringToLongitude(message[7], message[8]); if (double.TryParse(message[9], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { RangeToDestination = tmp; } else { RangeToDestination = double.NaN; } if (double.TryParse(message[10], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { TrueBearing = tmp; } else { TrueBearing = double.NaN; } if (double.TryParse(message[11], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { Velocity = tmp; } else { Velocity = double.NaN; } Arrived = message[12] == "A"; }
/// <summary> /// Initializes a new instance of the <see cref="Gll"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Gll(string type, string[] message) : base(type, message) { if (message == null || message.Length < 4) { throw new ArgumentException("Invalid GLL", "message"); } Latitude = NmeaMessage.StringToLatitude(message[0], message[1]); Longitude = NmeaMessage.StringToLongitude(message[2], message[3]); if (message.Length >= 5) //Some older GPS doesn't broadcast fix time { FixTime = StringToTimeSpan(message[4]); } DataActive = (message.Length < 6 || message[5] == "A"); ModeIndicator = DataActive ? Mode.Autonomous : Mode.DataNotValid; if (message.Length > 6) { switch (message[6]) { case "A": ModeIndicator = Mode.Autonomous; break; case "D": ModeIndicator = Mode.DataNotValid; break; case "E": ModeIndicator = Mode.EstimatedDeadReckoning; break; case "M": ModeIndicator = Mode.Manual; break; case "S": ModeIndicator = Mode.Simulator; break; case "N": ModeIndicator = Mode.DataNotValid; break; } } }
/// <summary> /// Initializes a new instance of the <see cref="Gga"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Gga(string type, string[] message) : base(type, message) { if (message == null || message.Length < 14) { throw new ArgumentException("Invalid GGA", "message"); } FixTime = StringToTimeSpan(message[0]); Latitude = NmeaMessage.StringToLatitude(message[1], message[2]); Longitude = NmeaMessage.StringToLongitude(message[3], message[4]); Quality = (Gga.FixQuality) int.Parse(message[5], CultureInfo.InvariantCulture); NumberOfSatellites = int.Parse(message[6], CultureInfo.InvariantCulture); Hdop = NmeaMessage.StringToDouble(message[7]); Altitude = NmeaMessage.StringToDouble(message[8]); AltitudeUnits = message[9]; GeoidalSeparation = NmeaMessage.StringToDouble(message[10]); GeoidalSeparationUnits = message[11]; var timeInSeconds = StringToDouble(message[12]); if (!double.IsNaN(timeInSeconds)) { TimeSinceLastDgpsUpdate = TimeSpan.FromSeconds(timeInSeconds); } else { TimeSinceLastDgpsUpdate = TimeSpan.MaxValue; } if (message[13].Length > 0) { DgpsStationId = int.Parse(message[13], CultureInfo.InvariantCulture); } else { DgpsStationId = -1; } }
/// <summary> /// Initializes a new instance of the <see cref="Vlw"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Vlw(string type, string[] message) : base(type, message) { if (message == null || message.Length < 7) { throw new ArgumentException("Invalid VLW", "message"); } WaterDistanceCumulative = NmeaMessage.StringToDouble(message[0]); WaterDistanceSinceReset = NmeaMessage.StringToDouble(message[2]); GroundDistanceCumulative = NmeaMessage.StringToDouble(message[4]); GroundDistanceSinceReset = NmeaMessage.StringToDouble(message[6]); }
/// <summary> /// Initializes a new instance of the <see cref="Vtg"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Vtg(string type, string[] message) : base(type, message) { if (message == null || message.Length < 7) { throw new ArgumentException("Invalid VTG", "message"); } CourseTrue = NmeaMessage.StringToDouble(message[0]); CourseMagnetic = NmeaMessage.StringToDouble(message[2]); SpeedKnots = NmeaMessage.StringToDouble(message[4]); SpeedKph = NmeaMessage.StringToDouble(message[6]); }
/// <summary> /// Initializes a new instance of the <see cref="Gst"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Gst(string type, string[] message) : base(type, message) { if (message == null || message.Length < 8) { throw new ArgumentException("Invalid GST", "message"); } FixTime = StringToTimeSpan(message[0]); Rms = NmeaMessage.StringToDouble(message[1]); SemiMajorError = NmeaMessage.StringToDouble(message[2]); SemiMinorError = NmeaMessage.StringToDouble(message[3]); ErrorOrientation = NmeaMessage.StringToDouble(message[4]); SigmaLatitudeError = NmeaMessage.StringToDouble(message[5]); SigmaLongitudeError = NmeaMessage.StringToDouble(message[6]); SigmaHeightError = NmeaMessage.StringToDouble(message[7]); }
/// <summary> /// Initializes a new instance of the <see cref="Gbs"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Grs(string type, string[] message) : base(type, message) { if (message == null || message.Length < 8) { throw new ArgumentException("Invalid Grs", "message"); } FixTime = StringToTimeSpan(message[0]); Mode = message[1] == "1" ? GrsMode.RecomputedFromPosition : GrsMode.UsedForPosition; double[] residuals = new double[message.Length - 2]; for (int i = 2; i < message.Length; i++) { residuals[i - 2] = NmeaMessage.StringToDouble(message[i]); } Residuals = residuals; }
/// <summary> /// Initializes a new instance of the <see cref="Gll"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Dtm(string type, string[] message) : base(type, message) { if (message == null || message.Length < 8) { throw new ArgumentException("Invalid DTM", "message"); } LocalDatumCode = message[0]; if (message[1].Length > 0) { LocalDatumSubdivisionCode = message[1][0]; } LatitudeOffset = NmeaMessage.StringToDouble(message[2]) * (message[3] == "S" ? -1 : 1); LongitudeOffset = NmeaMessage.StringToDouble(message[4]) * (message[5] == "W" ? -1 : 1); AltitudeOffset = NmeaMessage.StringToDouble(message[6]); ReferenceDatumCode = message[7]; }
/// <summary> /// Initializes a new instance of the <see cref="Gbs"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Gbs(string type, string[] message) : base(type, message) { if (message == null || message.Length < 8) { throw new ArgumentException("Invalid GBS", "message"); } FixTime = StringToTimeSpan(message[0]); LatitudeError = NmeaMessage.StringToDouble(message[1]); LongitudeError = NmeaMessage.StringToDouble(message[2]); AltitudeError = NmeaMessage.StringToDouble(message[3]); if (int.TryParse(message[4], System.Globalization.NumberStyles.Integer, CultureInfo.InvariantCulture, out int id)) { SatelliteId = id; } MissedDetectionProbability = NmeaMessage.StringToDouble(message[5]); BiasEstimate = NmeaMessage.StringToDouble(message[6]); StandardDeviation = NmeaMessage.StringToDouble(message[7]); }
/// <summary> /// Initializes a new instance of the <see cref="Gns"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Gns(string type, string[] message) : base(type, message) { if (message == null || message.Length < 12) { throw new ArgumentException("Invalid GNS", "message"); } FixTime = StringToTimeSpan(message[0]); Latitude = NmeaMessage.StringToLatitude(message[1], message[2]); Longitude = NmeaMessage.StringToLongitude(message[3], message[4]); ModeIndicators = message[5].Select(t => ParseModeIndicator(t)).ToArray(); NumberOfSatellites = int.Parse(message[6], CultureInfo.InvariantCulture); Hdop = NmeaMessage.StringToDouble(message[7]); OrthometricHeight = NmeaMessage.StringToDouble(message[8]); GeoidalSeparation = NmeaMessage.StringToDouble(message[9]); var timeInSeconds = StringToDouble(message[10]); if (!double.IsNaN(timeInSeconds)) { TimeSinceLastDgpsUpdate = TimeSpan.FromSeconds(timeInSeconds); } else { TimeSinceLastDgpsUpdate = null; } if (message[11].Length > 0) { DgpsStationId = message[11]; } if (message.Length > 12) { switch (message[12]) { case "S": Status = NavigationalStatus.Safe; break; case "C": Status = NavigationalStatus.Caution; break; case "U": Status = NavigationalStatus.Unsafe; break; case "V": default: Status = NavigationalStatus.NotValid; break; } } }