private void getSignalForGUI_NMEA(string str)
{
PositionInfo.PositionStruct struct2;
string str5;
int num8;
string nmeaMsg = str;
if (str.Contains("*"))
{
nmeaMsg = str.Substring(0, str.Length - 3);
}
Hashtable hashtable = this.m_Protocols.ConvertRawToHash_NMEAMsgs(nmeaMsg);
if (hashtable.ContainsKey("Message ID"))
{
string str3 = (string) hashtable["Message ID"];
struct2 = new PositionInfo.PositionStruct();
if (!(str3 == "$GPGGA"))
{
if (!(str3 == "$GPGSA"))
{
switch (str3)
{
case "$GPRMC":
if (this.dataGui.Positions.PositionList.Count > 0)
{
struct2 = (PositionInfo.PositionStruct) this.dataGui.Positions.PositionList[this.dataGui.Positions.PositionList.Count - 1];
}
if (hashtable.ContainsKey("Speed Over Ground"))
{
try
{
struct2.Speed = Convert.ToDouble((string) hashtable["Speed Over Ground"]);
}
catch
{
struct2.Speed = 0.0;
}
}
if (hashtable.ContainsKey("Mode"))
{
try
{
byte num10 = 0;
string s = (string) hashtable["Mode"];
if (!byte.TryParse(s, out num10))
{
num10 = byte.Parse(s, NumberStyles.HexNumber);
}
if (num10 == 5)
{
this.NavigationParamrters.FiveHzNavMode = 1;
this.NMEA_navMode = this.NMEA_navMode + " 5Hz";
}
else
{
this.NavigationParamrters.FiveHzNavMode = 0;
this.NMEA_navMode = this.NMEA_navMode + " 1Hz";
}
struct2.NavModeString = this.NMEA_navMode;
}
catch
{
}
}
break;
case "$GPGSV":
{
int num11 = 0;
int num12 = 1;
if (hashtable.ContainsKey("Number of Messages"))
{
try
{
num11 = Convert.ToInt32((string) hashtable["Number of Messages"]);
}
catch
{
num11 = 0;
}
}
if (hashtable.ContainsKey("Message Number"))
{
try
{
num12 = Convert.ToInt32((string) hashtable["Message Number"]);
}
catch
{
num12 = 0;
}
}
if ((num11 >= 1) && (num12 == 1))
{
for (int j = 0; j < DataForGUI.MAX_PRN; j++)
{
this.dataGui.PRN_Arr_CNO[j] = 0f;
this.dataGui.PRN_Arr_Azimuth[j] = 0f;
this.dataGui.PRN_Arr_Elev[j] = 0f;
this.dataGui.PRN_Arr_State[j] = 0;
this.dataGui.PRN_Arr_ID[j] = 0;
}
for (int k = 0; k < 12; k++)
{
this.dataGui.SignalDataForGUI.CHAN_Arr_CNO[k] = 0f;
this.dataGui.SignalDataForGUI.CHAN_Arr_Azimuth[k] = 0f;
this.dataGui.SignalDataForGUI.CHAN_Arr_Elev[k] = 0f;
this.dataGui.SignalDataForGUI.CHAN_Arr_State[k] = 0;
this.dataGui.SignalDataForGUI.CHAN_Arr_ID[k] = 0;
for (int m = 0; m < 10; m++)
{
this.dataGui.SignalDataForGUI.CHAN_MEAS_CNO[k][m] = 0;
}
}
}
for (int i = 0; i < 4; i++)
{
int index = 0;
string key = "Satellite ID " + ((i + 1)).ToString();
string str9 = "Elevation " + ((i + 1)).ToString();
string str10 = "Azimuth " + ((i + 1)).ToString();
string str8 = "SNR (C/No) " + ((i + 1)).ToString();
if (hashtable.ContainsKey(key) && (((string) hashtable[key]) != ""))
{
byte num18 = Convert.ToByte((string) hashtable[key]);
index = (4 * (num12 - 1)) + i;
if (index >= 12)
{
index = 11;
}
if ((num18 > 0) && (num18 < DataForGUI.MAX_PRN))
{
this.dataGui.PRN_Arr_ID[num18] = num18;
this.dataGui.SignalDataForGUI.CHAN_Arr_ID[index] = this.dataGui.PRN_Arr_ID[num18];
if (hashtable.ContainsKey(str9))
{
if (((string) hashtable[str9]) != "")
{
this.dataGui.PRN_Arr_Elev[num18] = (float) Convert.ToDouble((string) hashtable[str9]);
}
else
{
this.dataGui.PRN_Arr_Elev[num18] = 0f;
}
this.dataGui.SignalDataForGUI.CHAN_Arr_Elev[index] = this.dataGui.PRN_Arr_Elev[num18];
}
if (hashtable.ContainsKey(str10))
{
if (((string) hashtable[str10]) != "")
{
this.dataGui.PRN_Arr_Azimuth[num18] = (float) Convert.ToDouble((string) hashtable[str10]);
}
else
{
this.dataGui.PRN_Arr_Azimuth[num18] = 0f;
}
this.dataGui.SignalDataForGUI.CHAN_Arr_Azimuth[index] = this.dataGui.PRN_Arr_Azimuth[num18];
}
if (hashtable.ContainsKey(str8))
{
if (((string) hashtable[str8]) != "")
{
this.dataGui.PRN_Arr_CNO[num18] = (float) Convert.ToDouble((string) hashtable[str8]);
}
else
{
this.dataGui.PRN_Arr_CNO[num18] = 0f;
}
this.dataGui.SignalDataForGUI.CHAN_Arr_CNO[index] = this.dataGui.PRN_Arr_CNO[num18];
for (int n = 0; n < 10; n++)
{
this.dataGui.SignalDataForGUI.CHAN_MEAS_CNO[index][n] = (int) this.dataGui.PRN_Arr_CNO[num18];
}
}
}
}
}
lock (this.LockSignalDataUpdate)
{
if (this.SignalDataQ.Count >= this.MAX_SIG_BUFFER)
{
this.SignalDataQ.Dequeue();
}
this.SignalDataQ.Enqueue(this.dataGui.SignalDataForGUI);
}
if (num11 == num12)
{
if (this.DisplayPanelSignal != null)
{
this.DisplayPanelSignal.Invalidate();
}
if (this.DisplayPanelSVs != null)
{
this.DisplayPanelSVs.Invalidate();
}
if (this.DisplayPanelSVTraj != null)
{
this.DisplayPanelSVTraj.Invalidate();
}
if (this.DisplayPanelSatelliteStats != null)
{
this.msgid4Update = true;
this.DisplayPanelSatelliteStats.Invalidate();
}
}
break;
}
}
return;
}
if (this.dataGui.Positions.PositionList.Count > 0)
{
struct2 = (PositionInfo.PositionStruct) this.dataGui.Positions.PositionList[this.dataGui.Positions.PositionList.Count - 1];
}
str5 = "";
int num7 = 0;
if (!hashtable.ContainsKey("Mode 2"))
{
goto Label_0561;
}
try
{
num7 = Convert.ToInt32((string) hashtable["Mode 2"]);
}
catch
{
num7 = 0;
}
switch (num7)
{
case 2:
this.NMEA_navMode = "2-D";
struct2.NavValid = 0;
goto Label_0554;
case 3:
this.NMEA_navMode = "3-D";
struct2.NavValid = 0;
goto Label_0554;
}
this.NMEA_navMode = "No Fix";
struct2.NavValid = 1;
goto Label_0554;
}
long num2 = 0L;
double num3 = 0.0;
long result = 0L;
if (hashtable.ContainsKey("Latitude"))
{
try
{
num2 = Math.DivRem((long) (Convert.ToDouble((string) hashtable["Latitude"]) * 10000.0), 0xf4240L, out result);
num3 = ((double) result) / 600000.0;
struct2.Latitude = num2 + num3;
}
catch
{
struct2.Latitude = 0.0;
}
}
if (hashtable.ContainsKey("Latitude N/S") && (((string) hashtable["Latitude N/S"]) == "S"))
{
struct2.Latitude = -struct2.Latitude;
}
if (hashtable.ContainsKey("Longitude"))
{
try
{
num2 = Math.DivRem((long) (Convert.ToDouble((string) hashtable["Longitude"]) * 10000.0), 0xf4240L, out result);
num3 = ((double) result) / 600000.0;
struct2.Longitude = num2 + num3;
}
catch
{
struct2.Longitude = 0.0;
}
}
if (hashtable.ContainsKey("Longitude E/W") && (((string) hashtable["Longitude E/W"]) == "W"))
{
struct2.Longitude = -struct2.Longitude;
}
if (hashtable.ContainsKey("Altitude mean sea level(geoid)"))
{
try
{
struct2.Altitude = Convert.ToDouble((string) hashtable["Altitude mean sea level(geoid)"]);
}
catch
{
struct2.Altitude = 0.0;
}
if (hashtable.ContainsKey("Geoidal separation 1"))
{
try
{
double num5 = Convert.ToDouble((string) hashtable["Geoidal separation 1"]);
struct2.Altitude += num5;
}
catch
{
struct2.Altitude = 0.0;
}
}
}
if (hashtable.ContainsKey("HDOP"))
{
try
{
struct2.HDOP = Convert.ToDouble((string) hashtable["HDOP"]);
}
catch
{
struct2.HDOP = 0.0;
}
}
if (hashtable.ContainsKey("Num Svs in use"))
{
try
{
struct2.SatellitesUsed = Convert.ToUInt32((string) hashtable["Num Svs in use"]);
}
catch
{
struct2.SatellitesUsed = 0;
}
}
if (hashtable.ContainsKey("UTC"))
{
string str4 = (string) hashtable["UTC"];
try
{
struct2.RxTime_Hour = Convert.ToInt32(str4.Substring(0, 2));
}
catch
{
struct2.RxTime_Hour = 0;
}
try
{
struct2.RxTime_Minute = Convert.ToInt32(str4.Substring(2, 2));
}
catch
{
struct2.RxTime_Minute = 0;
}
try
{
struct2.RxTime_second = (ushort) (Convert.ToUInt16(str4.Substring(4, 2)) * 0x3e8);
}
catch
{
struct2.RxTime_second = 0;
}
}
byte num6 = 0;
if (hashtable.ContainsKey("GPS Quality Indicator"))
{
try
{
num6 = Convert.ToByte((string) hashtable["GPS Quality Indicator"]);
}
catch
{
num6 = 0;
}
}
switch (num6)
{
case 1:
this.dataGui._PMODE = num6;
struct2.NavValid = 0;
break;
case 2:
this.dataGui._PMODE = num6;
struct2.NavValid = 0;
break;
default:
this.dataGui._PMODE = 0;
struct2.NavValid = 1;
break;
}
struct2.NavModeString = this.NMEA_navMode;
if (this.dataGui.Positions.PositionList.Count >= 0x2710)
{
this.dataGui.Positions.PositionList.RemoveRange(0, this.dataGui.Positions.PositionList.Count / 2);
}
this.dataGui.Positions.PositionList.Add(struct2);
if (this.DisplayPanelLocation != null)
{
this.DisplayPanelLocation.Invalidate();
}
}
return;
Label_0554:
struct2.NavModeString = this.NMEA_navMode;
Label_0561:
num8 = 1;
while (num8 < 13)
{
str5 = "Satellite Used " + num8.ToString();
if (hashtable.ContainsKey(str5) && (((string) hashtable[str5]) != ""))
{
byte num9 = Convert.ToByte((string) hashtable[str5]);
this.dataGui.PRN_Arr_PRNforSolution[num9] = 1;
}
num8++;
}
}
private void getMsg41DataFromHash(Hashtable msgH)
{
ushort navValid = 0xffff;
PositionInfo.PositionStruct struct2 = new PositionInfo.PositionStruct();
if (msgH.ContainsKey("Nav Valid"))
{
struct2.NavValid = Convert.ToUInt16((string) msgH["Nav Valid"]);
navValid = struct2.NavValid;
}
if (msgH.ContainsKey("TOW"))
{
struct2.TOW = Convert.ToDouble((string) msgH["TOW"]);
if ((this.dataPlot != null) && (navValid == 0))
{
this.dataPlot.InsertTow_nvplot(struct2.TOW / 1000.0);
}
}
if (msgH.ContainsKey("Latitude"))
{
struct2.Latitude = Convert.ToDouble((string) msgH["Latitude"]) / 10000000.0;
if ((this.dataPlot != null) && (navValid == 0))
{
this.dataPlot.InsertLat(struct2.Latitude);
}
}
if (msgH.ContainsKey("Longitude"))
{
struct2.Longitude = Convert.ToDouble((string) msgH["Longitude"]) / 10000000.0;
if ((this.dataPlot != null) && (navValid == 0))
{
this.dataPlot.InsertLon(struct2.Longitude);
}
}
if (msgH.ContainsKey("Altitude from Ellipsoid"))
{
struct2.Altitude = Convert.ToDouble((string) msgH["Altitude from Ellipsoid"]) / 100.0;
if ((this.dataPlot != null) && (navValid == 0))
{
this.dataPlot.InsertAlt(struct2.Altitude);
this.dataPlot.UpdateIdx_nvplot();
}
}
if (msgH.ContainsKey("HDOP"))
{
struct2.HDOP = Convert.ToDouble((string) msgH["HDOP"]) / 5.0;
}
if (msgH.ContainsKey("Satellite ID List"))
{
struct2.SatellitesUsed = Convert.ToUInt32((string) msgH["Satellite ID List"]);
}
if (msgH.ContainsKey("UTC Hour"))
{
struct2.RxTime_Hour = Convert.ToInt32((string) msgH["UTC Hour"]);
}
if (msgH.ContainsKey("UTC Minute"))
{
struct2.RxTime_Minute = Convert.ToInt32((string) msgH["UTC Minute"]);
}
if (msgH.ContainsKey("UTC Second"))
{
struct2.RxTime_second = Convert.ToUInt16((string) msgH["UTC Second"]);
}
if (msgH.ContainsKey("Speed Over Ground (SOG)"))
{
struct2.Speed = Convert.ToDouble((string) msgH["Speed Over Ground (SOG)"]) / 100.0;
}
if (msgH.ContainsKey("Course Over Ground (COG True)"))
{
struct2.Heading = Convert.ToDouble((string) msgH["Course Over Ground (COG True)"]) / 100.0;
}
if (msgH.ContainsKey("Extended Week Number"))
{
struct2.ExtWeek = Convert.ToUInt16((string) msgH["Extended Week Number"]);
}
if (msgH.ContainsKey("Number of SVs in Fix"))
{
this.m_NavData.NumSVsInFix = Convert.ToInt32((string) msgH["Number of SVs in Fix"]);
}
string str = "Mode: ";
byte num2 = 0;
if (msgH.ContainsKey("NAV Type"))
{
struct2.NavType = Convert.ToUInt16((string) msgH["NAV Type"]);
num2 = (byte) (struct2.NavType & 7);
switch (num2)
{
case 1:
str = str + "1-SV KF";
break;
case 2:
str = str + "2-SVs KF";
break;
case 3:
str = str + "3-SVs KF";
break;
case 4:
str = str + "> 4-SVs KF";
break;
case 5:
str = str + "2-D LSQ";
break;
case 6:
str = str + "3-D LSQ";
break;
case 7:
str = str + "DR";
break;
default:
str = str + "No Fix";
break;
}
byte num3 = (byte) (struct2.NavType & 8);
if (num3 == 8)
{
str = str + " + TP";
}
byte num4 = (byte) (struct2.NavType & 0x80);
if (num4 == 0x80)
{
str = str + " + Dgps";
}
}
struct2.NavModeString = str;
if (!this.AutoReplyCtrl.AutoReplyParams.AutoReply)
{
PositionErrorCalc calc = new PositionErrorCalc();
if (num2 == 0)
{
this.RxCtrl.ResetCtrl.ResetPositionAvailable = false;
}
else if (this.RxCtrl.ResetCtrl == null)
{
this.m_NavData.TTFFSiRFLive = 0.0;
}
else
{
if (!this.RxCtrl.ResetCtrl.ResetPositionAvailable)
{
this.m_NavData.TTFFSiRFLive = ((double) (DateTime.Now.Ticks - this.RxCtrl.ResetCtrl.StartResetTime)) / 10000000.0;
if (this.m_NavData.TTFFSiRFLive > 1.0)
{
this.m_NavData.TTFFSiRFLive -= clsGlobal.SiRFLive_TTFF_OFFSET;
}
this.m_NavData.TTFFReport = this.m_NavData.TTFFSiRFLive;
}
if (this.m_NavData.ValidatePosition)
{
double num5 = Convert.ToDouble(this.m_NavData.RefLat);
double num6 = Convert.ToDouble(this.m_NavData.RefLon);
double num7 = Convert.ToDouble(this.m_NavData.RefAlt);
calc.GetPositionErrorsInMeter(struct2.Latitude, struct2.Longitude, struct2.Altitude, num5, num6, num7);
this.m_NavData.Nav2DPositionError = calc.HorizontalError;
this.m_NavData.Nav3DPositionError = calc.Position3DError;
this.m_NavData.NavVerticalPositionError = calc.VerticalErrorInMeter;
}
else
{
this.m_NavData.Nav2DPositionError = -9999.0;
this.m_NavData.Nav3DPositionError = -9999.0;
this.m_NavData.NavVerticalPositionError = -9999.0;
this.m_NavData.TTFFSiRFLive = -9999.0;
}
this.m_NavData.MeasLat = struct2.Latitude;
this.m_NavData.MeasLon = struct2.Longitude;
this.m_NavData.MeasAlt = struct2.Altitude;
this.m_NavData.TOW = struct2.TOW;
if (!this.RxCtrl.ResetCtrl.ResetPositionAvailable)
{
this.m_NavData.FirstFixMeasLat = this.m_NavData.MeasLat;
this.m_NavData.FirstFixMeasLon = this.m_NavData.MeasLon;
this.m_NavData.FirstFixMeasAlt = this.m_NavData.MeasAlt;
this.m_NavData.FirstFix2DPositionError = this.m_NavData.Nav2DPositionError;
this.m_NavData.FirstFix3DPositionError = this.m_NavData.Nav3DPositionError;
this.m_NavData.FirstFixVerticalPositionError = this.m_NavData.NavVerticalPositionError;
this.m_NavData.FirstFixTOW = this.m_NavData.TOW;
this.RxCtrl.ResetCtrl.ResetPositionAvailable = true;
}
}
}
if (msgH.ContainsKey("Nav Valid"))
{
try
{
if ((Convert.ToUInt16((string) msgH["Nav Valid"]) & 0x100) == 0x100)
{
this.ABPModeIndicator = true;
struct2.NavModeString = struct2.NavModeString + " ABP";
}
else
{
this.ABPModeIndicator = false;
}
}
catch
{
}
}
if (this.dataGui.Positions.PositionList.Count >= 0x2710)
{
this.dataGui.Positions.PositionList.RemoveRange(0, this.dataGui.Positions.PositionList.Count / 2);
}
this.dataGui.Positions.PositionList.Add(struct2);
if (this.DisplayPanelLocation != null)
{
this.DisplayPanelLocation.Invalidate();
}
}
private void getMsg41DataFromHash(Hashtable msgH)
{
ushort navValid = 0xffff;
PositionInfo.PositionStruct struct2 = new PositionInfo.PositionStruct();
if (msgH.ContainsKey("Nav Valid"))
{
struct2.NavValid = Convert.ToUInt16((string) msgH["Nav Valid"]);
navValid = struct2.NavValid;
}
if (msgH.ContainsKey("TOW"))
{
struct2.TOW = Convert.ToDouble((string) msgH["TOW"]);
if (navValid == 0)
{
this.dataPlot.InsertTow_nvplot(struct2.TOW / 1000.0);
}
}
if (msgH.ContainsKey("Latitude"))
{
struct2.Latitude = Convert.ToDouble((string) msgH["Latitude"]) / 10000000.0;
if (navValid == 0)
{
this.dataPlot.InsertLat(struct2.Latitude);
}
}
if (msgH.ContainsKey("Longitude"))
{
struct2.Longitude = Convert.ToDouble((string) msgH["Longitude"]) / 10000000.0;
if (navValid == 0)
{
this.dataPlot.InsertLon(struct2.Longitude);
}
}
if (msgH.ContainsKey("Altitude from Ellipsoid"))
{
struct2.Altitude = Convert.ToDouble((string) msgH["Altitude from Ellipsoid"]) / 100.0;
if (navValid == 0)
{
this.dataPlot.InsertAlt(struct2.Altitude);
this.dataPlot.UpdateIdx_nvplot();
}
}
}
public ArrayList ReadIMUFile(string filePath, double startTow, double endTow)
{
ArrayList list = new ArrayList();
try
{
StreamReader reader = new FileInfo(filePath).OpenText();
double num = 0.0;
int num2 = 0;
int num3 = 0;
bool flag = false;
string str = string.Empty;
string input = reader.ReadLine();
while (input != null)
{
if (!flag && input.Contains("SW Version"))
{
string pattern = "SW Version*(?<swVer>.*)";
Regex regex = new Regex(pattern, RegexOptions.Compiled);
if (regex.IsMatch(input))
{
str = regex.Match(input).Result("${swVer}");
flag = true;
}
}
string[] strArray = input.Split(new char[] { ',' });
if (strArray.Length <= 20)
{
goto Label_0302;
}
if (strArray[0] == "28")
{
num3 = Convert.ToInt16(strArray[0x13]);
if (num2 < num3)
{
num2 = num3;
num = (uint) Convert.ToDouble(strArray[4]);
}
}
if (!(strArray[0] == "41") || (Convert.ToInt16(strArray[2]) <= 0))
{
goto Label_0302;
}
PositionInfo.PositionStruct struct2 = new PositionInfo.PositionStruct();
struct2.NavType = Convert.ToUInt16(strArray[2]);
int num4 = 8;
struct2.TOW = (uint) (Convert.ToDouble(strArray[num4 / 2]) / 1000.0);
if (startTow > 0.0)
{
if (struct2.TOW >= startTow)
{
if ((endTow > 0.0) && (struct2.TOW > endTow))
{
return list;
}
goto Label_0190;
}
input = reader.ReadLine();
continue;
}
if ((endTow > 0.0) && (struct2.TOW > endTow))
{
return list;
}
Label_0190:
struct2.RxTime_Hour = Convert.ToInt32(strArray[num4++]);
struct2.RxTime_Minute = Convert.ToInt32(strArray[num4++]);
struct2.RxTime_second = (ushort) (Convert.ToDouble(strArray[num4++]) / 1000.0);
struct2.SatellitesUsed = Convert.ToUInt32(strArray[num4++]);
struct2.Latitude = Convert.ToDouble(strArray[num4++]) / 10000000.0;
struct2.Longitude = Convert.ToDouble(strArray[num4++]) / 10000000.0;
struct2.Altitude = Convert.ToDouble(strArray[num4++]) / 100.0;
struct2.Speed = Convert.ToDouble(strArray[num4 + 2]) / 100.0;
struct2.Heading = Convert.ToDouble(strArray[num4 + 3]) / 100.0;
struct2.NumSVInFix = Convert.ToUInt16(strArray[num4 + 0x12]);
struct2.HDOP = Convert.ToDouble(strArray[num4 + 0x13]) / 5.0;
if (struct2.TOW == num)
{
struct2.MaxCN0 = num2;
}
else
{
struct2.MaxCN0 = 0.0;
}
num2 = 0;
num3 = 0;
struct2.SW_Version = str;
list.Add(struct2);
Label_0302:
input = reader.ReadLine();
}
}
catch (Exception exception)
{
throw exception;
}
return list;
}
public void PointToPointErrorCalculation(string dataFile, string refFile, double startPoint, double endPoint)
{
ArrayList list = this._helperFunctions.ReadIMUFile(dataFile, startPoint, endPoint);
ArrayList list2 = this._helperFunctions.ReadIMUFile(refFile, startPoint, endPoint);
Stats stats = new Stats();
Stats stats2 = new Stats();
Stats stats3 = new Stats();
Stats stats4 = new Stats();
Stats stats5 = new Stats();
Stats stats6 = new Stats();
Stats stats7 = new Stats();
Stats stats8 = new Stats();
PositionErrorCalc calc = new PositionErrorCalc();
List<string> list3 = new List<string>();
string item = string.Empty;
List<double> positionDataList = new List<double>(8);
for (int i = 0; i < 8; i++)
{
positionDataList.Add(0.0);
}
PositionInfo.PositionStruct struct2 = new PositionInfo.PositionStruct();
PositionInfo.PositionStruct struct3 = new PositionInfo.PositionStruct();
int num2 = 0;
int num3 = 0;
double tOW = 0.0;
double num5 = 0.0;
double sample = 0.0;
double num7 = 0.0;
double num8 = 0.0;
double num9 = 0.0;
double num10 = 0.0;
double num11 = 0.0;
double num12 = 0.0;
int num13 = 0;
int num14 = 0;
int num15 = 0;
int num16 = 0;
int num17 = 0;
int num18 = 0;
int num19 = 0;
int num20 = 0;
int num21 = 0;
string str2 = "Not detected";
if ((list.Count > 0) && (list2.Count > 0))
{
for (num2 = 0; (num2 < list.Count) && (num3 < list2.Count); num2++)
{
struct2 = (PositionInfo.PositionStruct) list[num2];
struct3 = (PositionInfo.PositionStruct) list2[num3];
if (struct2.SW_Version != string.Empty)
{
str2 = struct2.SW_Version.TrimStart(new char[] { ':' });
}
if (struct2.NavType > 0)
{
tOW = struct2.TOW;
num5 = struct3.TOW;
while (tOW > num5)
{
num3++;
if (num3 >= list2.Count)
{
break;
}
struct3 = (PositionInfo.PositionStruct) list2[num3];
num5 = struct3.TOW;
}
if (num8 == 0.0)
{
num8 = tOW;
}
num9 = tOW;
if (tOW == num5)
{
positionDataList[0] = struct2.Latitude;
positionDataList[1] = struct2.Longitude;
positionDataList[2] = struct2.Altitude;
positionDataList[3] = struct2.Heading;
positionDataList[4] = struct3.Latitude;
positionDataList[5] = struct3.Longitude;
positionDataList[6] = struct3.Altitude;
positionDataList[7] = struct3.Heading;
calc.GetPositionErrorsInMeter(positionDataList);
sample = calc.HorizontalError;
stats.InsertSample(sample);
num7 = Math.Abs(calc.VerticalErrorInMeter);
stats2.InsertSample(num7);
num11 = Math.Abs(calc.AlongTrackErrorInMeter);
stats7.InsertSample(num11);
num12 = Math.Abs(calc.XTrackErrorInMeter);
stats8.InsertSample(num12);
num10 = Math.Abs((double) (struct2.Heading - struct3.Heading));
if (num10 > 180.0)
{
num10 = 360.0 - num10;
}
stats6.InsertSample(num10);
stats3.InsertSample(struct2.HDOP);
stats4.InsertSample((double) struct2.NumSVInFix);
stats5.InsertSample(struct2.MaxCN0);
if (sample > 50.0)
{
num13++;
num19++;
if (num13 == 4)
{
num16++;
}
}
else
{
num13 = 0;
}
if (sample > 25.0)
{
num14++;
num20++;
if (num14 == 4)
{
num17++;
}
}
else
{
num14 = 0;
}
if (sample > 10.0)
{
num15++;
num21++;
if (num15 == 4)
{
num18++;
}
}
else
{
num15 = 0;
}
item = string.Format("{0},{1}, {2:F6},{3:F6},{4:F6},{5:F6},{6:F6},{7:F6},{8:F6}, {9:F6}, {10:F2}, {11:F2}, {12:F2}, {13:F2},{14:F2},{15:F2},{16},{17},{18},{19},{20},{21},{22},{23},{24},{25}, {26},{27}", new object[] {
tOW, num5, struct2.Latitude, struct2.Longitude, struct2.Altitude, struct3.Latitude, struct3.Longitude, struct3.Altitude, struct2.Heading, struct3.Heading, sample, num7, num12, num11, struct2.HDOP, struct2.NumSVInFix,
struct2.MaxCN0, struct2.NavType, num19, num16, num20, num17, num21, num18, num13, num14, num15, num10
});
list3.Add(item);
num3++;
}
}
}
if (stats.Samples > 0)
{
double percentile = stats.GetPercentile((double) 50.0, -9999.0);
double num23 = stats.GetPercentile((double) 68.0, -9999.0);
double num24 = stats.GetPercentile((double) 95.0, -9999.0);
double num25 = stats.Stats_Max((double) -9999.0);
stats.Stats_Min((double) -9999.0);
stats.Stats_Mean((double) -9999.0);
double num26 = stats2.GetPercentile((double) 50.0, -9999.0);
double num27 = stats2.GetPercentile((double) 68.0, -9999.0);
double num28 = stats2.GetPercentile((double) 95.0, -9999.0);
double num29 = stats2.Stats_Max((double) -9999.0);
stats2.Stats_Min((double) -9999.0);
stats2.Stats_Mean((double) -9999.0);
double num30 = stats8.GetPercentile((double) 50.0, -9999.0);
double num31 = stats8.GetPercentile((double) 68.0, -9999.0);
double num32 = stats8.GetPercentile((double) 95.0, -9999.0);
double num33 = stats8.Stats_Max((double) -9999.0);
stats8.Stats_Min((double) -9999.0);
stats8.Stats_Mean((double) -9999.0);
double num34 = stats7.GetPercentile((double) 50.0, -9999.0);
double num35 = stats7.GetPercentile((double) 68.0, -9999.0);
double num36 = stats7.GetPercentile((double) 95.0, -9999.0);
double num37 = stats7.Stats_Max((double) -9999.0);
stats7.Stats_Min((double) -9999.0);
stats7.Stats_Mean((double) -9999.0);
int samples = stats.Samples;
double num39 = stats3.Stats_Mean((double) -9999.0);
double num40 = stats4.Stats_Mean((double) -9999.0);
double num41 = (((double) samples) / ((num9 - num8) + 1.0)) * 100.0;
double num42 = stats5.Stats_Mean((double) -9999.0);
double num43 = stats6.Stats_Max((double) -9999.0);
stats6.Stats_Min((double) -9999.0);
stats6.Stats_Mean((double) -9999.0);
double num44 = stats6.GetPercentile((double) 50.0, -9999.0);
double num45 = stats6.GetPercentile((double) 68.0, -9999.0);
double num46 = stats6.GetPercentile((double) 95.0, -9999.0);
string path = dataFile.Replace(".gps", "_PointToPointAccuracy.csv");
FileInfo info = new FileInfo(dataFile);
StreamWriter writer = new StreamWriter(path);
FileInfo info2 = new FileInfo(refFile);
writer.WriteLine("IMU file path= {0}", info2.Name);
writer.WriteLine("Data file path= {0}", info.Name);
writer.WriteLine("SW Version= {0}", str2);
writer.WriteLine("MaxCN0 Ave|dBHz= {0:F1}", num42);
writer.WriteLine("Samples= {0:}", samples);
writer.WriteLine("Tracking Availability= {0:F1}%", num41);
writer.WriteLine("HDOP Ave= {0:F1}", num39);
writer.WriteLine("Satellite Number Ave= {0:F1}", num40);
writer.WriteLine("Horizontal Error 50% CEP|m= {0:F1}", percentile);
writer.WriteLine("Horizontal Error 68% CEP|m= {0:F1}", num23);
writer.WriteLine("Horizontal Error 95% CEP|m= {0:F1}", num24);
writer.WriteLine("Horizontal Error Max|m= {0:F1}", num25);
writer.WriteLine("Altitude Error 50% CEP|m= {0:F1}", num26);
writer.WriteLine("Altitude Error 68% CEP|m= {0:F1}", num27);
writer.WriteLine("Altitude Error 95% CEP|m= {0:F1}", num28);
writer.WriteLine("Altitude Error Max|m= {0:F1}", num29);
writer.WriteLine("Cross Track Error 50% CEP|m= {0:F1}", num30);
writer.WriteLine("Cross Track Error 68% CEP|m= {0:F1}", num31);
writer.WriteLine("Cross Track Error 95% CEP|m= {0:F1}", num32);
writer.WriteLine("Cross Track Error Max|m= {0:F1}", num33);
writer.WriteLine("Along Track Error 50% CEP|m= {0:F1}", num34);
writer.WriteLine("Along Track Error 68% CEP|m= {0:F1}", num35);
writer.WriteLine("Along Track Error 95% CEP|m= {0:F1}", num36);
writer.WriteLine("Along Track Error Max|m= {0:F1}", num37);
writer.WriteLine("Exceed50mCount= {0}", num19);
writer.WriteLine("Exceed50m3sNotPullInCount= {0}", num16);
writer.WriteLine("Exceed25mCount= {0}", num20);
writer.WriteLine("Exceed25m3sNotPullInCount= {0}", num17);
writer.WriteLine("Exceed10mCount= {0}", num21);
writer.WriteLine("Exceed10m3sNotPullInCount= {0}", num18);
writer.WriteLine("Heading Error 50% CEP|m= {0:F1}", num44);
writer.WriteLine("Heading Error 68% CEP|m= {0:F1}", num45);
writer.WriteLine("Heading Error 95% CEP|m= {0:F1}", num46);
writer.WriteLine("Heading Error Max|m= {0:F1}", num43);
writer.WriteLine("End Summary");
writer.WriteLine("Tow,RefTow,Latitude,Longitude,Altitude,RefLatitude,RefLongitude,RefAltitude,Heading,RefHeading,HzError,AltError,CrossTrackError,AlongTrackError,HDOP,NumSVInFix,MaxCN0,NavType,Exceed50mCount,Exceed50m3sNotPullInCount,Exceed25mCount,Exceed25m3sNotPullInCount,Exceed10mCount,Exceed10m3sNotPullInCount,PullInTime50m,PullInTime25m,ullInTime10m,headingError");
foreach (string str4 in list3)
{
writer.WriteLine(str4);
}
writer.Close();
}
list.Clear();
list2.Clear();
}
stats.Dispose();
stats = null;
stats2.Dispose();
stats2 = null;
stats3.Dispose();
stats3 = null;
stats4.Dispose();
stats4 = null;
stats5.Dispose();
stats5 = null;
stats8.Dispose();
stats8 = null;
stats7.Dispose();
stats7 = null;
stats6.Dispose();
stats6 = null;
calc = null;
list3.Clear();
list3 = null;
}
