private void port_NewNMEAMessage(object sender, NewNMEAMessageEventArgs e)
{
try
{
var sentence = NMEAParser.Parse(e.Message);
if (sentence is NMEAProprietarySentence)
{
NMEAProprietarySentence snt = ((NMEAProprietarySentence)(sentence));
if (snt.SentenceIDString == "0")
{
// ACK - analyze error code
Process_ACK(snt.parameters);
}
else if (snt.SentenceIDString == "5")
{
// local data value
Process_LOC_DATA(snt.parameters);
}
else if (snt.SentenceIDString == "3")
{
// settings field value
Process_FLD_Value(snt.parameters);
}
else if (snt.SentenceIDString == "!")
{
// device info
Process_DEVICE_INFO(snt.parameters);
}
else if (snt.SentenceIDString == "!!")
{
Process_DEVICE_INFO_RN(snt.parameters);
}
else if (snt.SentenceIDString == "I")
{
// track point val
Process_TRACK_POINT_VAL(snt.parameters);
}
else if (snt.SentenceIDString == "L")
{
// waypoint value
Process_WAYPOINT_VAL(snt.parameters);
}
}
else
{
// TODO: write log
}
}
catch (Exception ex)
{
// TODO: write log
}
}
private void port_NewNMEAMessage(object sender, NewNMEAMessageEventArgs e)
{
InvokeAppendText(commLogTxb, logger.Write(string.Format(">> {0}", e.Message)));
try
{
var parseResult = NMEAParser.Parse(e.Message);
if (parseResult is NMEAProprietarySentence)
{
NMEAProprietarySentence pSentence = (parseResult as NMEAProprietarySentence);
if (pSentence.Manufacturer == ManufacturerCodes.TNT)
{
if (pSentence.SentenceIDString == "!")
{
Parse_DEVICE_INFO(pSentence.parameters);
}
else if (pSentence.SentenceIDString == "0")
{
Parse_ACK(pSentence.parameters);
}
else if (pSentence.SentenceIDString == "5")
{
Parse_LOC_DATA_VAL(pSentence.parameters);
}
else if (pSentence.SentenceIDString == "9")
{
Parse_SETTINGS(pSentence.parameters);
}
else
{
InvokeAppendText(commLogTxb, logger.Write(string.Format("ERROR: Unsupported sentence: \"{0}\"", pSentence.SentenceIDString)));
}
}
else
{
InvokeAppendText(commLogTxb, logger.Write(string.Format("ERROR: Unsupported manufacturer: \"{0}\"", pSentence.Manufacturer)));
}
}
else
{
InvokeAppendText(commLogTxb, logger.Write(string.Format("ERROR: Unsupported sentence: \"{0}\"", (parseResult as NMEAStandartSentence).SentenceID)));
}
}
catch (Exception ex) { InvokeAppendText(commLogTxb, logger.Write(ex)); }
}
private void port_NewNMEAMessage(object sender, NewNMEAMessageEventArgs e)
{
try
{
var parseResult = NMEAParser.Parse(e.Message);
if (parseResult is NMEAProprietarySentence)
{
NMEAProprietarySentence sentence = (parseResult as NMEAProprietarySentence);
if (sentence.Manufacturer == ManufacturerCodes.TNT)
{
if (sentence.SentenceIDString == "!")
{
// DEVICE INFO
DEVICE_INFO_Parse(sentence.parameters);
}
else if (sentence.SentenceIDString == "0")
{
// ACK
ACK_Parse(sentence.parameters);
}
else if (sentence.SentenceIDString == "5")
{
// LOC_DATA_VAL
LOC_DATA_VAL_Parse(sentence.parameters);
}
else if (sentence.SentenceIDString == "9")
{
// SETTINGS_VAL
SETTINGS_VAL_Parse(sentence.parameters);
}
}
else
{
// WTF?
}
}
}
catch (Exception ex)
{
// WTF?
}
}
public NMEAUnsupportedProprietaryEventArgs(int sourceID, NMEAProprietarySentence sentence)
{
SourceID = sourceID;
Sentence = sentence;
}
private void port_NewNMEAMessageReceived(object sender, NewNMEAMessageEventArgs e)
{
bool isParsed = false;
NMEASentence result = null;
OnInfoEvent(string.Format(">> {0}", e.Message));
try
{
result = NMEAParser.Parse(e.Message);
isParsed = true;
}
catch (Exception ex)
{
OnInfoEvent(string.Format("\"{0}\" caused \"{1}\", TargetSite: {2}", e.Message, ex.Message, ex.TargetSite));
}
if (isParsed)
{
if (result is NMEAProprietarySentence)
{
NMEAProprietarySentence pResult = (result as NMEAProprietarySentence);
if (pResult.Manufacturer == ManufacturerCodes.UWV)
{
ICs sentenceID = uWAVE.ICsByMessageID(pResult.SentenceIDString);
if (sentenceID != ICs.IC_INVALID)
{
if (parsers.ContainsKey(sentenceID))
{
parsers[sentenceID](pResult.parameters);
}
else
{
// skip unsupported sentence
if (UnknownSentenceReceived != null)
{
UnknownSentenceReceived.Rise(this, new UnknownSentenceEventArgs(result));
}
else
{
OnInfoEvent(string.Format("WARNING: unsupported sentence identifier \"{0}\" (\"{1}\") in \"{2}\"", sentenceID, pResult.SentenceIDString, e.Message));
}
}
}
else
{
// skip unknown sentence ID
if (UnknownSentenceReceived != null)
{
UnknownSentenceReceived.Rise(this, new UnknownSentenceEventArgs(result));
}
else
{
OnInfoEvent(string.Format("WARNING: unsupported sentence identifier \"{0}\" in \"{1}\"", pResult.SentenceIDString, e.Message));
}
}
}
else
{
// skip unsupported manufacturer ID
if (UnknownSentenceReceived != null)
{
UnknownSentenceReceived.Rise(this, new UnknownSentenceEventArgs(result));
}
else
{
OnInfoEvent(string.Format("WARNING: unsupported manufacturer identifier \"{0}\" in \"{1}\"", pResult.SentenceIDString, e.Message));
}
}
}
else
{
// skip standard sentence
if (UnknownSentenceReceived != null)
{
UnknownSentenceReceived.Rise(this, new UnknownSentenceEventArgs(result));
}
else
{
OnInfoEvent(string.Format("WARNING: unsupported standard sentence \"{0}\"", e.Message));
}
}
}
}
private void nmeaPort_NewMessage(object sender, NewNMEAMessageEventArgs e)
{
NMEAProprietarySentence nmeaMsg = new NMEAProprietarySentence();
bool isParsed = false;
InvokeWriteLogString(string.Format("<< {0}", e.Message));
#region try parse
try
{
var tempMsg = NMEAParser.Parse(e.Message);
if (tempMsg is NMEAProprietarySentence)
{
nmeaMsg = (tempMsg as NMEAProprietarySentence);
isParsed = true;
}
else
{
InvokeWriteLogString(string.Format("Skipping sentence {0}", (tempMsg as NMEAStandartSentence).SentenceID));
}
}
catch (Exception ex)
{
ProcessException(ex, false);
}
#endregion
if (isParsed)
{
timer.Stop();
if (nmeaMsg.Manufacturer == ManufacturerCodes.UCN)
{
if (nmeaMsg.SentenceIDString == "L")
{
repeats = 0;
UCNL_SRV_CMD cmdID = (UCNL_SRV_CMD)(int)nmeaMsg.parameters[0];
switch (cmdID)
{
case UCNL_SRV_CMD.DEV_INFO_VAL:
{
// $PUCNL,x,x,c--c
InvokeWriteLogString(Utils.ParseDevInfoStr((string)nmeaMsg.parameters[2]));
action = UCNL_FW_ACTION.INVOKE_FW_REQ;
if (isExtraPauseBeforeFWUPDATE)
{
MessageBox.Show("Turn off S_MODE in your device and press OK", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
RequestFWUpdate(IsRedNAVRedNODE);
break;
}
case UCNL_SRV_CMD.ACK:
{
// $PUCNL,x,x,c--c
InvokeWriteLogString("DEVICE: Firmware update mode ON\r\n");
nmeaPort.IsRawModeOnly = true;
if (InitialBaudrate != BaudRate.baudRate115200)
{
action = UCNL_FW_ACTION.PORT_REOPENING;
ReopenPort();
}
else
{
action = UCNL_FW_ACTION.FW_UPDATE_INIT;
RequestTransferSize();
}
break;
}
}
}
}
else
{
InvokeWriteLogString(string.Format("Skipping sentence {0}", nmeaMsg.SentenceIDString));
}
}
}
private void gtrPort_NewNMEAMessage(object sender, NewNMEAMessageEventArgs e)
{
logger.Write(string.Format("{0} (RedGTR) >> {1}", gtrPort.PortName, e.Message));
try
{
var result = NMEAParser.Parse(e.Message);
if (result is NMEAProprietarySentence)
{
NMEAProprietarySentence pResult = result as NMEAProprietarySentence;
if (pResult.Manufacturer == ManufacturerCodes.TNT)
{
if (pResult.SentenceIDString == "0") // ACK
{
Parse_ACK(pResult.parameters);
}
else if (pResult.SentenceIDString == "!") // Device info
{
Parse_DEVICE_INFO(pResult.parameters);
}
else if (pResult.SentenceIDString == "5")
{
Parse_LOC_DATA_VAL(pResult.parameters);
}
else if (pResult.SentenceIDString == "9")
{
Parse_REM_RECEIVED(pResult.parameters);
}
else if (pResult.SentenceIDString == "B")
{
Parse_REM_TOUT(pResult.parameters);
}
else if (pResult.SentenceIDString == "C")
{
Parse_REM_PONG(pResult.parameters);
}
else if (pResult.SentenceIDString == "D")
{
Parse_REM_PONGEX(pResult.parameters);
}
else if (pResult.SentenceIDString == "O")
{
Parse_PRETMP_VAL(pResult.parameters);
}
}
else
{
// not supported manufacturer code
}
}
else
{
NMEAStandartSentence sSentence = result as NMEAStandartSentence;
if (sSentence.SentenceID == SentenceIdentifiers.RMC)
{
Parse_RMC(sSentence.parameters);
}
}
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
private void port_NewNMEAMessage(object sender, NewNMEAMessageEventArgs e)
{
if (LogEvent != null)
{
LogEvent(this, new LogEventArgs(LogLineType.INFO, string.Format("<< {0}", e.Message)));
}
try
{
var sentence = NMEAParser.Parse(e.Message);
if (sentence is NMEAProprietarySentence)
{
NMEAProprietarySentence snt = ((NMEAProprietarySentence)(sentence));
if (snt.SentenceIDString == "0")
{
// ACK - analyze error code
Process_ACK(snt.parameters);
}
else if (snt.SentenceIDString == "5")
{
// local data value
Process_LOC_DATA(snt.parameters);
}
else if (snt.SentenceIDString == "!")
{
// device info
Process_DEVICE_INFO(snt.parameters);
}
else if (snt.SentenceIDString == "C")
{
Process_FIX_UPDATE(snt.parameters);
}
else if (snt.SentenceIDString == "M")
{
Process_BUOYS_STATUS(snt.parameters);
}
else if (snt.SentenceIDString == "N")
{
Process_DPTTMP(snt.parameters);
}
else if (snt.SentenceIDString == "O")
{
Process_PRETMP(snt.parameters);
}
else
{
if (LogEvent != null)
{
LogEvent(this, new LogEventArgs(LogLineType.ERROR, string.Format("Unsupported sentence ID: {0}", snt.SentenceIDString)));
}
}
}
else
{
NMEAStandartSentence snt = ((NMEAStandartSentence)(sentence));
if (snt.SentenceID == SentenceIdentifiers.GGA)
{
Process_GGA(snt.parameters);
}
else if (snt.SentenceID == SentenceIdentifiers.RMC)
{
Process_RMC(snt.parameters);
}
else if (snt.SentenceID == SentenceIdentifiers.MTW)
{
Process_MTW(snt.parameters);
}
else
{
if (LogEvent != null)
{
LogEvent(this, new LogEventArgs(LogLineType.ERROR, string.Format("Unsupported sentence ID: {0}", snt.SentenceID)));
}
}
}
}
catch (Exception ex)
{
if (LogEvent != null)
{
LogEvent(this, new LogEventArgs(LogLineType.ERROR, ex));
}
}
}
private void inPort_NewNMEAMessage(object sender, NewNMEAMessageEventArgs e)
{
NMEASentence parsedSentence = null;
bool isParsed = false;
logger.Write(string.Format("{0} >> {1}", inPort.PortName, e.Message));
try
{
parsedSentence = NMEAParser.Parse(e.Message);
isParsed = true;
}
catch (Exception ex)
{
ProcessException(ex, false);
}
if (isParsed && (parsedSentence is NMEAProprietarySentence))
{
NMEAProprietarySentence pResult = (parsedSentence as NMEAProprietarySentence);
if ((pResult.Manufacturer == ManufacturerCodes.VLB) &&
(pResult.SentenceIDString == "L"))
{
// $PVLBL,ownLat,ownLon,ownDepth,ownBatV,targetDataID,targetDataValue,propagationTime,MSR
double ownLat = doubleNullChecker(pResult.parameters[0]);
double ownLon = doubleNullChecker(pResult.parameters[1]);
double ownDpt = doubleNullChecker(pResult.parameters[2]);
double ownBatV = doubleNullChecker(pResult.parameters[3]);
RC_CODES_Enum dataID = (RC_CODES_Enum)Enum.ToObject(typeof(RC_CODES_Enum), intNullChecker(pResult.parameters[4]));
double dataVal = doubleNullChecker(pResult.parameters[5]);
double pTime = doubleNullChecker(pResult.parameters[6]);
double msr = doubleNullChecker(pResult.parameters[7]);
if ((!double.IsNaN(ownLat)) && (!double.IsNaN(ownLon)))
{
ownLatitude.Value = ownLat;
ownLongitude.Value = ownLon;
if (!is_g_updated)
{
g = UCNLPhysics.PHX.PHX_GravityConstant_Calc(ownLat);
is_g_updated = true;
logger.Write(string.Format(CultureInfo.InvariantCulture, "Gravity constant updated: {0:F04} m/s^2", g));
}
}
if (!double.IsNaN(ownDpt))
{
ownDepth.Value = ownDpt;
}
if (!double.IsNaN(ownBatV))
{
ownBatteryVoltage.Value = ownBatV;
}
if (!double.IsNaN(pTime))
{
targetPTime.Value = pTime;
}
if (!double.IsNaN(msr))
{
targetMSR.Value = msr;
}
if (!double.IsNaN(dataVal))
{
if (dataID == RC_CODES_Enum.RC_DPT_GET)
{
targetDepth.Value = dataVal;
}
else if (dataID == RC_CODES_Enum.RC_TMP_GET)
{
targetTemperature.Value = dataVal;
TryUpdateSoundSpeed();
}
else if (dataID == RC_CODES_Enum.RC_BAT_V_GET)
{
targetBatVoltage.Value = dataVal;
}
}
if (!double.IsNaN(ownLat) && !double.IsNaN(ownLon) && !double.IsNaN(ownDpt))
{
if (!double.IsNaN(pTime) &&
targetDepth.IsInitializedAndNotObsolete)
{
vlblCore.TargetDepth = targetDepth.Value;
vlblCore.AddMeasurement(new VLBLTOAMeasurement(ownLat, ownLon, ownDpt, pTime * soundSpeedMps));
UpdateTrack("Measurements", new GeoPoint3D(ownLat, ownLon, ownDpt));
}
else
{
UpdateTrack("Rover", new GeoPoint3D(ownLat, ownLon, ownDpt));
}
}
}
}
}
