public static Decoded Parse(Sentence sentence)
{
// $GPVTG,<1>,T,<3>,M,<5>,N,<7>,K*<CS><CR><LF>
// 0) Sentence Id
// 1) True course over ground, 000 to 359 degrees.
// 2) T for true course
// 3) Magnetic course over ground, 000 to 359 degrees.
// 4) M for magnetic course
// 5) horizontal speed over ground, 00.0 to 999.9 knots.
// 6) N for knots
// 7) Speed over ground, 00.0 to 1851.8 ko/hr.
// 8) K for km/p
// *<CS>) Checksum.
// <CR><LF>) Sentence terminator
if (sentence.Id != "$GPVTG") {
return null;
}
if (sentence.Parts.Length != 9) {
return null;
}
double trueCourse;
if (!double.TryParse(sentence.Parts[1], out trueCourse)) {
trueCourse = double.NaN;
}
double magneticCourse;
double.TryParse(sentence.Parts[3], out magneticCourse);
double speedInKnots;
double.TryParse(sentence.Parts[5], out speedInKnots);
return new Decoded(trueCourse, magneticCourse, new Speed(speedInKnots, SpeedUnit.NauticalMilesPerHour));
}
public Message Parse(Sentence sentence)
{
if (sentence == null) {
return null;
}
int decoderIndex = 0;
object decoded = null;
for (; decoderIndex < _decoders.Count; decoderIndex++) {
var decoder = _decoders[decoderIndex];
decoded = decoder(sentence);
if (decoded != null) {
//automatically reorder decoders so that the most used decoders are first in the list
for (int i = decoderIndex; i > 0; i--) {
_decoders[i] = _decoders[i - 1];
}
_decoders[0] = decoder;
break;
}
}
if (decoded == null) {
//decode failed?
// Debugger.Break();
return null;
}
return new Message(sentence, decoded);
}
public static Decoded Parse(Sentence sentence)
{
// $GPGLL,<1>,<2>,<3>,<4>,<5>,<6>,<7>*<CS><CR><LF>
// 0) Sentence Id
// 1) Latitude, ddmm.mmmm format.
// 2) Latitude hemisphere, N or S.
// 3) Longitude, dddmT1.mmmm format.
// 4) Longitude hemisphere, E or W.
// 5) UTC time of position fix, hhmmss format.
// 6) Status, A = data active or V = data void.
// *<CS>) Checksum.
// <CR><LF>) Sentence terminator
if (sentence.Id != "$GPGLL") {
return null;
}
if (sentence.Parts.Length != 6) {
return null;
}
if (sentence.Parts[6] != "A") {
return null;
}
var latitude = SentenceHelper.ParseLatitude(sentence.Parts[1], sentence.Parts[2]);
var longitude = SentenceHelper.ParseLongitude(sentence.Parts[3], sentence.Parts[4]);
var fixTime = NmeaClock.GetTime()
.Date;
fixTime += SentenceHelper.ParseUtcTime(sentence.Parts[5]);
return new Decoded(new GeoPosition(latitude, longitude), fixTime);
}
// DeviceInfoRequest - "$PLTIT,RQ,ID\r\n"
// DeviceInfoResponse - "$PLTIT,ID,{model},{version}*{check}\r\n"
// $ID,{model},{version},{date}*{check}\r\n
public static DeviceInfo Parse(Sentence sentence)
{
if (sentence.Parts[0] == "$PLTIT" && sentence.Parts[1] == "ID") {
return new DeviceInfo(sentence.Parts[2], sentence.Parts[3]);
}
if (sentence.Parts[0] == "$ID") {
return new DeviceInfo(sentence.Parts[1], sentence.Parts[2], sentence.Parts[3]);
}
return null;
}
// there will be 2 HV sentences then the ML sentence
// "$PLTIT,ML,{hValue},{hUnits: F,Y,M},{azValue},{azUnits: D},{incValue},{incUnits: D},{sdValue},{sdUnits: F,Y,M}*{check}"
// 0 1 2 3
public static MissingLine ParseMissing(Sentence sentence)
{
if (sentence.Parts[0] != "$PLTIT") {
return null;
}
if (sentence.Parts[1] != "ML") {
return null;
}
GeoVector missing = ParseVector(sentence);
return new MissingLine(null, null, missing);
}
// "$PLTIT,HV,{hValue},{hUnits: F,Y,M},{azValue},{azUnits: D},{incValue},{incUnits: D},{sdValue},{sdUnits: F,Y,M}*{check}"
// 0 1 2 3 4 5 6 7 8 9
public static GeoVector ParseDirect(Sentence sentence)
{
if (sentence.Parts[0] != "$PLTIT") {
return null;
}
if (sentence.Parts[1] != "HV") {
return null;
}
GeoVector direct = ParseVector(sentence);
return direct;
}
// "$PLTIT,HT,{htValue},{htUnits: F,Y,M},*{check}"
public static Length Parse(Sentence sentence)
{
if (sentence.Parts[0] != "$PLTIT") {
return null;
}
if (sentence.Parts[1] != "HT") {
return null;
}
// todo high-res check
Length height = new Length(double.Parse(sentence.Parts[2]), LengthUnit.Foot);
return height;
}
public static Decoded Parse(Sentence sentence)
{
// $GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>*<CS><CR><LF>
// 0) Sentence Id
// 1) UTC time of position fix, hhmmss.sss format.
// 2) Status, A = data valid, V = data not valid.
// 3) Latitude, ddmm.mmmm format.
// 4) Latitude hemisphere, N or S.
// 5) Longitude, dddmmm.mmmm format.
// 6) Longitude hemisphere, E or W.
// 7) Speed over ground, 0.0 to 1851.8 knots.
// 8) Course over ground, 000.0 to 359.9 degrees, true.
// 9) UTC Date, ddmmyy format.
// 10) Magnetic variation, 000.0 to 180.O degrees
// 11) Magnetic variation, E = East, W = West
// 12) (Optional) Fix mode indicator , A=autonomous, D=differential, E=Estimated, N=not valid, S=Simulator
// *<CS>) Checksum.
// <CR><LF>) Sentence terminator
if (sentence.Id != "$GPRMC") {
return null;
}
if (sentence.Parts.Length != 12 && sentence.Parts.Length != 13) {
return null;
}
if (sentence.Parts[2] != "A") {
return null;
}
DateTime fixTime = SentenceHelper.ParseUtcDate(sentence.Parts[9]) + SentenceHelper.ParseUtcTime(sentence.Parts[1]);
Latitude latitude = SentenceHelper.ParseLatitude(sentence.Parts[3], sentence.Parts[4]);
Longitude longitude = SentenceHelper.ParseLongitude(sentence.Parts[5], sentence.Parts[6]);
double speed,
heading;
double.TryParse(sentence.Parts[7], out speed);
if (!double.TryParse(sentence.Parts[8], out heading)) {
heading = double.NaN;
}
//todo: magnetic variation
if (sentence.Parts.Length == 13) {
if (sentence.Parts[12] != "A" && sentence.Parts[12] != "D") {
return null;
}
}
return new Decoded(new GeoPosition(latitude, longitude), fixTime, heading, new Speed(speed, SpeedUnit.NauticalMilesPerHour));
}
public static Decoded Parse(Sentence sentence)
{
// $GPGSV,<1>,<2>,<3>,<4>,<5>,<6>,<7>, ... ,<4>,<5>,<6>,<7>*<CS><CR><LF>
// 0) Sentence Id
// 1) Total number of GSV sentences to be transmitted, 1-3.
// 2) Sequence number of message, 1-3.
// 3) Total number of satellites in view, 00 to 12.
// 4) Satellite PRN number, 01 to 32.
// 5) Satellite elevation, 00 to 90 degrees.
// 6) Satellite azimuth, 000 to 359 degrees, true.
// 7) Signal to noise ration in dBHZ (0-99), null when not tracking.
// *<CS>) Checksum.
// <CR><LF>) Sentence terminator
//
// NOTE: Items <4>,<5>,<6> and <7> repeat for each satellite in view to a maximum
// of four (4) satellites per sentence. Additional satellites in view information
// must be sent in subsequent sentences. These fields will be null if unused.
if (sentence.Id != "$GPGSV") {
return null;
}
if (sentence.Parts.Length != 20) {
return null;
}
int sequenceCount,
sequenceId,
numberOfSatellites;
int.TryParse(sentence.Parts[1], out sequenceCount);
int.TryParse(sentence.Parts[2], out sequenceId);
int.TryParse(sentence.Parts[3], out numberOfSatellites);
SatelliteInfo[] satelliteInfos = new SatelliteInfo[4];
for (int i = 0; i < 4; i++) {
int prn,
elevation,
azimuth;
double signalToNoise;
int.TryParse(sentence.Parts[4 * i + 4], out prn);
int.TryParse(sentence.Parts[4 * i + 5], out elevation);
int.TryParse(sentence.Parts[4 * i + 6], out azimuth);
double.TryParse(sentence.Parts[4 * i + 7], out signalToNoise);
//todo use sequence id for start offset
satelliteInfos[i] = new SatelliteInfo(prn, elevation, azimuth, signalToNoise);
}
return new Decoded(satelliteInfos);
}
private static GeoVector ParseVector(Sentence sentence)
{
bool highQuality = true;
//horizontal distance
Length horizontal = null;
string measurement = sentence.Parts[2];
if (!string.IsNullOrEmpty(measurement)) {
highQuality = measurement.EndsWith("0");
measurement = measurement.Substring(0, measurement.Length - 1);
LengthUnit units = GetLengthUnit(sentence.Parts[3]);
horizontal = new Length(double.Parse(measurement), units);
}
//azimuth angle
Angle azimuth = null;
measurement = sentence.Parts[4];
if (!string.IsNullOrEmpty(measurement)) {
measurement = measurement.Substring(0, measurement.Length - 1);
AngleUnit units = GetAngleUnit(sentence.Parts[5]);
azimuth = new Angle(double.Parse(measurement), units);
}
//inclination angle
Angle inclination = null;
measurement = sentence.Parts[6];
if (!string.IsNullOrEmpty(measurement)) {
measurement = measurement.Substring(0, measurement.Length - 1);
AngleUnit units = GetAngleUnit(sentence.Parts[7]);
inclination = new Angle(double.Parse(measurement), units);
}
//slope distance
Length slope = null;
measurement = sentence.Parts[8];
if (!string.IsNullOrEmpty(measurement)) {
measurement = measurement.Substring(0, measurement.Length - 1);
LengthUnit units = GetLengthUnit(sentence.Parts[9]);
slope = new Length(double.Parse(measurement), units);
}
return new GeoVector(horizontal, azimuth, inclination, slope, highQuality);
}
public static Decoded Parse(Sentence sentence)
{
// $GPGGA,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<11>,M,<13>,<14>*<CS><CR><LF>
// 0) Sentence Id
// 1) UTC time of position fix, hhmmss.sss format
// 2) Latitude, ddmm.mmmm format.
// 3) Latitude hemisphere, N or S.
// 4) Longitude, dddmm.mmmm format.
// 5) Longitude hemisphere, E or W.
// 6) Position Fix Indicator,
// 0 = Invalid fix.
// 1 = GPS fix (SPS)
// 2 = DGPS fix
// 3 = PPS fix
// 4 = Real Time Kinematic
// 5 = Float RTK
// 6 = estimated (dead reckoning) (2.3 feature)
// 7 = Manual input mode
// 8 = Simulation mode
// 7) Number of sate1lites in use, 00 to 12.
// 8) Horizontal Dilution of Precision, 0.5 to 99.9.
// 9) MSL Altitude, -9999.9 to 99999.9 meters.
// 10) Altitude units - M for meters
// 11) Geoid separation in meters according to WGS-84 ellipsoid, -999.9 to 9999.9 meters.
// 12) Separation units - M for meters
// 13) Differential GPS (RTCM SC-104) data age, number of seconds since last valid RTCM transmission (nu1l if non-DGPS).
// 14) Differential Reference Station ID, 0000 to 1023. (null if non-DGPS)
// *<CS>) Checksum.
// <CR><LF>) Sentence terminator
if (sentence.Id != "$GPGGA") {
return null;
}
if (sentence.Parts.Length != 15) {
return null;
}
int fixIndicator;
int.TryParse(sentence.Parts[6], out fixIndicator);
if (fixIndicator == 0) {
return null;
}
DateTime fixTime = NmeaClock.GetTime()
.Date;
fixTime += SentenceHelper.ParseUtcTime(sentence.Parts[1]);
Latitude latitude = SentenceHelper.ParseLatitude(sentence.Parts[2], sentence.Parts[3]);
Longitude longitude = SentenceHelper.ParseLongitude(sentence.Parts[4], sentence.Parts[5]);
int numberOfSatellites;
int.TryParse(sentence.Parts[7], out numberOfSatellites);
double horizontalDop;
double.TryParse(sentence.Parts[8], out horizontalDop);
Length altitude = SentenceHelper.ParseLength(sentence.Parts[9], sentence.Parts[10]);
Length heightOfGeoid = SentenceHelper.ParseLength(sentence.Parts[11], sentence.Parts[12]);
int dgpsAge;
int.TryParse(sentence.Parts[13], out dgpsAge);
string dgpsStationId = sentence.Parts[14];
return new Decoded(new GeoPosition(latitude, longitude, altitude), fixTime);
}
public static Decoded Parse(Sentence sentence)
{
// $GPGSA,<1>,<2>,<3>,<4>, ... ,<13>,<14>,<15>,<16>,<17>*<CS><CR><LF>
// 0) Sentence Id
// 1) Mode 1, M = manual, A = automatic.
// 2) Mode 2, Fix type, 1 = no fix, 2 = 2D, 3 = 3D.
// 3) PRN number, 01 to 32, of satellite used on channel 1
// 4) PRN number, 01 to 32, of satellite used on channel 2
// 5) PRN number, 01 to 32, of satellite used on channel 3
// 6) PRN number, 01 to 32, of satellite used on channel 4
// 7) PRN number, 01 to 32, of satellite used on channel 5
// 8) PRN number, 01 to 32, of satellite used on channel 6
// 9) PRN number, 01 to 32, of satellite used on channel 7
// 10) PRN number, 01 to 32, of satellite used on channel 8
// 11) PRN number, 01 to 32, of satellite used on channel 9
// 12) PRN number, 01 to 32, of satellite used on channel 10
// 13) PRN number, 01 to 32, of satellite used on channel 11
// 14) PRN number, 01 to 32, of satellite used on channel 12
// 15) PDOP-Position dilution of precision, 0.5 to 99.9.
// 16) HDOP-Horizontal dilution of precision, 0.5 to 99.9.
// 17) VDOP-Vertical di1ution of precision, 0.5 to 99.9.
// *<CS>) Checksum.
// <CR><LF>) Sentence terminator
if (sentence.Id != "$GPGSA") {
return null;
}
if (sentence.Parts.Length != 18) {
return null;
}
GpsFixType fixType;
switch (sentence.Parts[2]) {
case "3":
fixType = GpsFixType.ThreeD;
break;
case "2":
fixType = GpsFixType.TwoD;
break;
default:
fixType = GpsFixType.None;
break;
}
int[] satellites = new int[12];
for (int i = 0; i < 12; i++) {
int satId;
if (int.TryParse(sentence.Parts[i + 3], out satId)) {
satellites[i] = satId;
}
}
double positionDop,
horizontalDop,
verticalDop;
double.TryParse(sentence.Parts[15], out positionDop);
double.TryParse(sentence.Parts[16], out horizontalDop);
double.TryParse(sentence.Parts[17], out verticalDop);
return new Decoded(fixType, satellites, positionDop, horizontalDop, verticalDop);
}
private void PublishSentence(Sentence sentence)
{
var handler = SentenceReceived;
if (handler != null) {
handler(sentence);
}
}