void CaptureFormKeyUp(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.ShiftKey)
{
fixMode = FixMode.None;
}
}
/// <summary>
/// This method is used to "fix" the mouse coordinates when keeping shift/ctrl pressed
/// </summary>
/// <param name="currentMouse"></param>
/// <returns></returns>
private Point FixMouseCoordinates(Point currentMouse)
{
switch (_fixMode)
{
case FixMode.Initiated:
if (_previousMousePos.X != currentMouse.X)
{
_fixMode = FixMode.Vertical;
}
else if (_previousMousePos.Y != currentMouse.Y)
{
_fixMode = FixMode.Horizontal;
}
break;
case FixMode.Vertical:
currentMouse = new Point(currentMouse.X, _previousMousePos.Y);
break;
case FixMode.Horizontal:
currentMouse = new Point(_previousMousePos.X, currentMouse.Y);
break;
}
_previousMousePos = currentMouse;
return(currentMouse);
}
public void FixGongFaData(int gongFaID, FixMode gongFaFixMode, object value)
{
if (gongFaFixData.TryGetValue(gongFaID, out Dictionary <int, string> data))
{
string oldValue;
int index = (int)gongFaFixMode;
bool flag = data.TryGetValue(index, out oldValue);
switch (gongFaFixMode)
{
case FixMode.发挥上限上升:
{
if (flag)
{
data[index] = (int.Parse(oldValue) + Convert.ToInt32(value)).ToString();
}
else
{
data[index] = Convert.ToInt32(value).ToString();
}
break;
}
}
}
else
{
gongFaFixData.Add(gongFaID, new Dictionary <int, string>());
FixGongFaData(gongFaID, gongFaFixMode, value);
}
}
/// <summary>
/// Corrects this classes properties after the base sentence was changed.
/// </summary>
private new void SetPropertiesFromSentence()
{
// Cache the sentence words
string[] words = Words;
int wordCount = words.Length;
FixMode = ParseFixMode(0);
FixMethod = ParseFixMethod(1, true);
if (wordCount >= 3)
{
// The sentence supports up to 12 satellites
_fixedSatellites = new List <Satellite>(12);
// Get each satellite PRN number
int count = wordCount < 14 ? wordCount : 14;
for (int index = 2; index < count; index++)
{
// add the satellite if word isn't empty
if (words[index].Length != 0)
{
_fixedSatellites.Add(new Satellite(int.Parse(words[index], NmeaCultureInfo)));
}
}
}
PositionDilutionOfPrecision = ParseDilution(14); // Set overall dilution of precision
HorizontalDilutionOfPrecision = ParseDilution(15); // Set horizontal dilution of precision
VerticalDilutionOfPrecision = ParseDilution(16); // Set vertical dilution of precision
}
public static bool CheckKeyUpForFixing(Keys keys)
{
if (keys == Keys.ShiftKey) {
fixMode = FixMode.None;
return true;
}
return false;
}
/// <summary>
/// Deserializes command
/// </summary>
/// <param name="talkedId"></param>
/// <param name="parts"></param>
internal RMC(string talkedId, string[] parts) : base(talkedId)
{
if (!string.IsNullOrWhiteSpace(parts[8]))
{
DateTime = System.DateTime.ParseExact(parts[8], DATETIME_DDMMYY, DateTimeFormatInfo.InvariantInfo,
DateTimeStyles.AssumeUniversal | DateTimeStyles.AdjustToUniversal);
}
if (!string.IsNullOrWhiteSpace(parts[8]))
{
DateTime time;
/*
*
* if (
* !System.DateTime.TryParseExact(parts[0], HHMMSSfff, DateTimeFormatInfo.InvariantInfo, DateTimeStyles.AssumeUniversal | DateTimeStyles.AdjustToUniversal, out time))
* {
* time = System.DateTime.ParseExact(parts[0], HHMMSS, DateTimeFormatInfo.InvariantInfo,
* DateTimeStyles.AssumeUniversal | DateTimeStyles.AdjustToUniversal);
* }
*/
try
{
time = System.DateTime.ParseExact(parts[0], DATETIME_HHMMSSfff, DateTimeFormatInfo.InvariantInfo,
DateTimeStyles.AssumeUniversal | DateTimeStyles.AdjustToUniversal);
}
catch (FormatException)
{
time = System.DateTime.ParseExact(parts[0], DATETIME_HHMMSS, DateTimeFormatInfo.InvariantInfo,
DateTimeStyles.AssumeUniversal | DateTimeStyles.AdjustToUniversal);
}
DateTime = DateTime?.Add(time.TimeOfDay) ?? time;
}
Status = MessageFormatting.ParseOneLetterEnumByValue <Flag>(parts[1]);
Position = new Position(parts[2], parts[3], parts[4], parts[5]);
SOG = float.Parse(parts[6]);
TMG = !string.IsNullOrWhiteSpace(parts[7]) ? new TrueMessageCompassValue(double.Parse(parts[7])) : null;
if (!string.IsNullOrWhiteSpace(parts[9]))
{
MagneticVariation = float.Parse(parts[9]);
}
if (!string.IsNullOrWhiteSpace(parts[10]))
{
MagneticVariationDirection = MessageFormatting.ParseOneLetterEnumByValue <EastWest>(parts[10]);
}
if (parts.Length > 11 && !string.IsNullOrWhiteSpace(parts[11]))
{
Mode = MessageFormatting.ParseOneLetterEnumByValue <FixMode>(parts[11]);
}
}
public static bool CheckKeyUpForFixing(Keys keys)
{
if (keys == Keys.ShiftKey)
{
fixMode = FixMode.None;
return(true);
}
return(false);
}
public static bool CheckKeyDownForFixing(Keys keys)
{
if (keys == Keys.ShiftKey) {
if (fixMode == FixMode.None) {
fixMode = FixMode.Initiated;
return true;
}
}
return false;
}
public static bool CheckKeyDownForFixing(Keys keys)
{
if (keys == Keys.ShiftKey)
{
if (fixMode == FixMode.None)
{
fixMode = FixMode.Initiated;
return(true);
}
}
return(false);
}
/// <summary>
/// Handle the key up event
/// </summary>
/// <param name="sender">object</param>
/// <param name="keyEventArgs">KeyEventArgs</param>
private void CaptureFormKeyUp(object sender, KeyEventArgs keyEventArgs)
{
switch (keyEventArgs.KeyCode)
{
case Keys.ShiftKey:
_fixMode = FixMode.None;
break;
case Keys.ControlKey:
_isCtrlPressed = false;
break;
}
}
public static string ToString(FixMode fixMode)
{
switch (fixMode)
{
case FixMode.Manual:
return("M");
case FixMode.Automatic:
return("A");
default:
return("");
}
}
public static string FixModeString(FixMode value)
{
switch (value)
{
case FixMode.Auto:
return("Auto");
case FixMode.Manual:
return("Manual");
default:
return("Unknown");
}
}
public override void Empty()
{
base.Empty();
Operating = OperatingMode.Unknown;
Fix = FixMode.Unknown;
PositionDilutionOfPrecision = 0.0D;
HorizontalDilutionOfPrecision = 0.0D;
VerticalDilutionOfPrecision = 0.0D;
for (int index = 0; index < Satellites.Length; index++)
{
Satellites[index] = 0;
}
}
public static Point FixMouseCoordinates(Point currentMouse)
{
if (fixMode == FixMode.Initiated) {
if (previousMousePos.X != currentMouse.X) {
fixMode = FixMode.Vertical;
} else if (previousMousePos.Y != currentMouse.Y) {
fixMode = FixMode.Horizontal;
}
} else if (fixMode == FixMode.Vertical) {
currentMouse = new Point(currentMouse.X, previousMousePos.Y);
} else if (fixMode == FixMode.Horizontal) {
currentMouse = new Point(previousMousePos.X, currentMouse.Y);
}
previousMousePos = currentMouse;
return currentMouse;
}
void CaptureFormKeyDown(object sender, KeyEventArgs e)
{
// Check fixmode
if (e.KeyCode == Keys.ShiftKey)
{
if (fixMode == FixMode.None)
{
fixMode = FixMode.Initiated;
return;
}
}
if (e.KeyCode == Keys.Escape)
{
DialogResult = DialogResult.Cancel;
}
else if (e.KeyCode == Keys.M)
{
// Toggle mouse cursor
capture.CursorVisible = !capture.CursorVisible;
pictureBox.Invalidate();
}
else if (e.KeyCode == Keys.V && conf.isExperimentalFeatureEnabled("Video"))
{
capture.CaptureDetails.CaptureMode = CaptureMode.Video;
pictureBox.Invalidate();
}
else if (e.KeyCode == Keys.Space)
{
switch (captureMode)
{
case CaptureMode.Region:
captureMode = CaptureMode.Window;
break;
case CaptureMode.Window:
captureMode = CaptureMode.Region;
break;
}
pictureBox.Invalidate();
selectedCaptureWindow = null;
PictureBoxMouseMove(this, new MouseEventArgs(MouseButtons.None, 0, Cursor.Position.X, Cursor.Position.Y, 0));
}
else if (e.KeyCode == Keys.Return && captureMode == CaptureMode.Window)
{
DialogResult = DialogResult.OK;
}
}
protected Emulator(string name)
{
_Name = name;
// Create new buffers for reading and writing
_ReadBuffer = new List <byte>(_DefaultReadBufferSize);
_WriteBuffer = new List <byte>(_DefaultWriteBufferSize);
// Initialize simulated values
_ReadDataAvailableWaitHandle = new ManualResetEvent(false);
_WriteDataAvailableWaitHandle = new ManualResetEvent(false);
_EmulationIntervalWaitHandle = new ManualResetEvent(false);
// Default timeouts for reading and writing
_ReadTimeout = _DefaultReadTimeout;
_WriteTimeout = _DefaultWriteTimeout;
// Simulated values
_seed = new Random();
_UtcDateTime = DateTime.UtcNow;
_CurrentPosition = Positioning.Position.Empty;
_Altitude = Distance.FromFeet(1000);
_Route = new List <Position>();
_Satellites = new List <Satellite>();
_FixQuality = FixQuality.GpsFix;
_FixMode = FixMode.Automatic;
_FixMethod = FixMethod.Fix3D;
_FixStatus = FixStatus.Fix;
_HorizontalDop = DilutionOfPrecision.Good;
_VerticalDop = DilutionOfPrecision.Good;
_MeanDop = DilutionOfPrecision.Good;
_Speed = Speed.FromStatuteMilesPerHour(20);
_speedLow = Speed.FromKilometersPerSecond(10).Value;
_speedHigh = Speed.FromKilometersPerSecond(25).Value;
_Bearing = Azimuth.Southwest;
_bearingStart = _seed.NextDouble() * 360;
_bearingArc = 10;
}
public static Point FixMouseCoordinates(Point currentMouse)
{
if (_fixMode == FixMode.Initiated)
{
if (_previousMousePos.X != currentMouse.X)
{
_fixMode = FixMode.Vertical;
}
else if (_previousMousePos.Y != currentMouse.Y)
{
_fixMode = FixMode.Horizontal;
}
}
else if (_fixMode == FixMode.Vertical)
{
currentMouse = new Point(currentMouse.X, _previousMousePos.Y);
}
else if (_fixMode == FixMode.Horizontal)
{
currentMouse = new Point(_previousMousePos.X, currentMouse.Y);
}
_previousMousePos = currentMouse;
return(currentMouse);
}
/// <summary>
/// This method is used to "fix" the mouse coordinates when keeping shift/ctrl pressed
/// </summary>
/// <param name="currentMouse"></param>
/// <returns></returns>
private Point FixMouseCoordinates(Point currentMouse)
{
if (fixMode == FixMode.Initiated)
{
if (previousMousePos.X != currentMouse.X)
{
fixMode = FixMode.Vertical;
}
else if (previousMousePos.Y != currentMouse.Y)
{
fixMode = FixMode.Horizontal;
}
}
else if (fixMode == FixMode.Vertical)
{
currentMouse = new Point(currentMouse.X, previousMousePos.Y);
}
else if (fixMode == FixMode.Horizontal)
{
currentMouse = new Point(previousMousePos.X, currentMouse.Y);
}
previousMousePos = currentMouse;
return(currentMouse);
}
/// <summary>
/// Creates a new GpgsaSentence
/// </summary>
/// <param name="fixMode">The fix mode.</param>
/// <param name="fixMethod">The fix method.</param>
/// <param name="satellites">The satellites.</param>
/// <param name="positionDilutionOfPrecision">The position dilution of precision.</param>
/// <param name="horizontalDilutionOfPrecision">The horizontal dilution of precision.</param>
/// <param name="verticalDilutionOfPrecision">The vertical dilution of precision.</param>
public GpgsaSentence(FixMode fixMode, FixMethod fixMethod, IEnumerable <Satellite> satellites, DilutionOfPrecision positionDilutionOfPrecision,
DilutionOfPrecision horizontalDilutionOfPrecision, DilutionOfPrecision verticalDilutionOfPrecision)
{
// Use a string builder to create the sentence text
StringBuilder builder = new StringBuilder(128);
// Append the command word
builder.Append("$GPGSA");
builder.Append(',');
switch (fixMode)
{
case FixMode.Automatic:
builder.Append("A");
break;
default:
builder.Append("M");
break;
}
builder.Append(',');
switch (fixMethod)
{
case FixMethod.Fix2D:
builder.Append("2");
break;
case FixMethod.Fix3D:
builder.Append("3");
break;
default:
builder.Append("1");
break;
}
builder.Append(',');
#region Fixed satellites
/* A comma-delimited list of satellites involved in a fix. Up to 12 satellites can be serialized.
* This one concerns me, because while the limit is 12, ever more satellites are being launched.
* Should we just serialize everything??
*/
// Get a count of satellites to write, up to 123. We'll scrub the list to ensure only fixed satellites are written
int fixedSatellitesWritten = 0;
foreach (Satellite item in satellites)
{
// Is it fixed?
if (item.IsFixed)
{
// Yes. It cannot have babies
builder.Append(item.PseudorandomNumber.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",");
// Update the count
fixedSatellitesWritten++;
// If we're at 12, that's the limit. Stop here
if (fixedSatellitesWritten == 12)
{
break;
}
}
}
// If we wrote less than 12 satellites, write commas for the remainder
for (int index = 0; index < 12 - fixedSatellitesWritten; index++)
{
builder.Append(",");
}
#endregion Fixed satellites
// NOTE: Commas have been written at this point
// Position Dilution of Precision
builder.Append(positionDilutionOfPrecision.Value.ToString(NmeaCultureInfo));
builder.Append(",");
// Horizontal Dilution of Precision
builder.Append(horizontalDilutionOfPrecision.Value.ToString(NmeaCultureInfo));
builder.Append(",");
// Vertical Dilution of Precision
builder.Append(verticalDilutionOfPrecision.Value.ToString(NmeaCultureInfo));
// Set this object's sentence
Sentence = builder.ToString();
SetPropertiesFromSentence();
// Finally, append the checksum
AppendChecksum();
}
/// <summary>
/// Creates a new instance with the specified fix method.
/// </summary>
/// <param name="fixMode">A value from the <strong>FixMode</strong> enumeration.</param>
/// <remarks></remarks>
public FixModeEventArgs(FixMode fixMode)
{
_FixMode = fixMode;
}
/// <summary>
/// Updates the fix mode to the specified value.
/// </summary>
/// <param name="value">The value.</param>
protected virtual void SetFixMode(FixMode value)
{
// If the new value is the same or it's invalid, ignore it
if (value == _fixMode || value == FixMode.Unknown)
return;
// Set the new value
_fixMode = value;
// And notify
if (FixModeChanged != null)
FixModeChanged(this, new FixModeEventArgs(_fixMode));
}
/// <summary>
/// Handle the key down event
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void CaptureFormKeyDown(object sender, KeyEventArgs e)
{
var step = _isCtrlPressed ? 10 : 1;
switch (e.KeyCode)
{
case Keys.Up:
Cursor.Position = new Point(Cursor.Position.X, Cursor.Position.Y - step);
break;
case Keys.Down:
Cursor.Position = new Point(Cursor.Position.X, Cursor.Position.Y + step);
break;
case Keys.Left:
Cursor.Position = new Point(Cursor.Position.X - step, Cursor.Position.Y);
break;
case Keys.Right:
Cursor.Position = new Point(Cursor.Position.X + step, Cursor.Position.Y);
break;
case Keys.ShiftKey:
// Fixmode
if (_fixMode == FixMode.None)
{
_fixMode = FixMode.Initiated;
}
break;
case Keys.ControlKey:
_isCtrlPressed = true;
break;
case Keys.Escape:
// Cancel
DialogResult = DialogResult.Cancel;
break;
case Keys.M:
// Toggle mouse cursor
_capture.CursorVisible = !_capture.CursorVisible;
Invalidate();
break;
//// TODO: Enable when the screen capture code works reliable
//case Keys.V:
// // Video
// if (capture.CaptureDetails.CaptureMode != CaptureMode.Video) {
// capture.CaptureDetails.CaptureMode = CaptureMode.Video;
// } else {
// capture.CaptureDetails.CaptureMode = captureMode;
// }
// Invalidate();
// break;
case Keys.Z:
if (UsedCaptureMode == CaptureMode.Region)
{
// Toggle zoom
Conf.ZoomerEnabled = !Conf.ZoomerEnabled;
InitializeZoomer(Conf.ZoomerEnabled);
Invalidate();
}
break;
case Keys.D:
if (UsedCaptureMode == CaptureMode.Window)
{
// Toggle debug
_showDebugInfo = !_showDebugInfo;
Invalidate();
}
break;
case Keys.Space:
// Toggle capture mode
switch (UsedCaptureMode)
{
case CaptureMode.Region:
// Set the window capture mode
UsedCaptureMode = CaptureMode.Window;
// "Fade out" Zoom
InitializeZoomer(false);
// "Fade in" window
_windowAnimator = new RectangleAnimator(new NativeRect(_cursorPos, NativeSize.Empty), _captureRect, FramesForMillis(700), EasingTypes.Quintic, EasingModes.EaseOut);
_captureRect = Rectangle.Empty;
Invalidate();
break;
case CaptureMode.Window:
// Set the region capture mode
UsedCaptureMode = CaptureMode.Region;
// "Fade out" window
_windowAnimator.ChangeDestination(new NativeRect(_cursorPos, NativeSize.Empty), FramesForMillis(700));
// Fade in zoom
InitializeZoomer(Conf.ZoomerEnabled);
_captureRect = Rectangle.Empty;
Invalidate();
break;
}
SelectedCaptureWindow = null;
OnMouseMove(this, new MouseEventArgs(MouseButtons.None, 0, Cursor.Position.X, Cursor.Position.Y, 0));
break;
case Keys.Return:
// Confirm
if (UsedCaptureMode == CaptureMode.Window)
{
DialogResult = DialogResult.OK;
}
else if (!_mouseDown)
{
StartSelecting();
}
else
{
FinishSelecting();
}
break;
case Keys.F:
ToFront = !ToFront;
TopMost = !TopMost;
break;
}
}
/// <summary>
/// This packet provides a list of satellites used for position or time-only fixes by the GPS
/// receiver. The packet also provides the dilution of precision values PDOP, HDOP, VDOP and TDOP
/// of that set and provides the current mode (automatic or manual, 3-D or 2-D, Over-Determined Clock
/// mode, etc.). This packet has variable length equal to (17 + nsvs) where "nsvs" is the
/// number of satellites used in the solution. If an SV is rejected for use by the T-RAIM
/// algorithm then the SV PRN value will be negative.
///
/// PDOP = positional DOP
/// HDOP = horizontal DOP
/// VDOP = vertical DOP
/// TDOP = temporal DOP
///
/// Note: The GPS receiver sends this packet in response to packet 0x24 or automatically.
/// </summary>
private void sat_list(TsipPacket tp)
{
byte mode, count, dimension;
dimension = mode = count = tp.GetNextByte();
dimension &= 0x07; // fix dimension is in first 3 bits
mode &= 0x08; // mode is in bit 3
mode >>= 3;
count >>= 4; // tracked sat count in upper 4 bits
//Debug.Print(":0x6D (Satellite List count = {0})", count);
positional_dop = Helpers.FloatToFixPrecision(tp.GetNextSingle());
horizontal_dop = Helpers.FloatToFixPrecision(tp.GetNextSingle());
vertical_dop = Helpers.FloatToFixPrecision(tp.GetNextSingle());
temporal_dop = Helpers.FloatToFixPrecision(tp.GetNextSingle());
fix_dimension = Helpers.ByteToFixDimension(dimension);
fix_mode = Helpers.ByteToFixMode(mode);
for (int i = 0; i < 32; i++) // clear current tracking flags
Satellites[i].UsedInFix = false;
for (int i = 0; i < count; i++)
{
bool used = true;
byte prn = tp.GetNextByte();
if ((prn & 0x80) == 0x80) // satellite is tracked but is not used in fix
{
used = false;
prn &= 0x7F;
}
prn--;
if (prn > 31)
continue; // disregard bogus data
Satellites[prn].Tracked = true;
Satellites[prn].UsedInFix = used;
}
}
void CaptureFormKeyUp(object sender, KeyEventArgs e) {
switch(e.KeyCode) {
case Keys.ShiftKey:
_fixMode = FixMode.None;
break;
case Keys.ControlKey:
_isCtrlPressed = false;
break;
}
}
void CaptureFormKeyUp(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.ShiftKey) {
fixMode = FixMode.None;
}
}
public override bool Parse(Sentence sentence)
{
/*
** GSA - GPS DOP and Active Satellites
**
** 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
** | | | | | | | | | | | | | | | | | |
** $--GSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,x.x,x.x,x.x*hh<CR><LF>
**
** Field Number:
** 1) Operating Mode, A = Automatic, M = Manual
** 2) Fix Mode, 1 = Fix not available, 2 = 2D, 3 = 3D
** 3) Satellite PRN #1
** 4) Satellite PRN #2
** 5) Satellite PRN #3
** 6) Satellite PRN #4
** 7) Satellite PRN #5
** 8) Satellite PRN #6
** 9) Satellite PRN #7
** 10) Satellite PRN #8
** 11) Satellite PRN #9
** 12) Satellite PRN #10
** 13) Satellite PRN #11
** 14) Satellite PRN #12
** 15) PDOP
** 16) HDOP
** 17) VDOP
** 18) Checksum
*/
/*
** First we check the checksum...
*/
if (sentence.IsChecksumBad() == Boolean.True)
{
Empty();
return(false);
}
string field = sentence.Field(1);
if (field == "A")
{
Operating = OperatingMode.Automatic;
}
else if (field == "M")
{
Operating = OperatingMode.Manual;
}
else
{
Operating = OperatingMode.Unknown;
}
int index = sentence.Integer(2);
switch (index)
{
case 1:
Fix = FixMode.Unavailable;
break;
case 2:
Fix = FixMode.TwoDimensional;
break;
case 3:
Fix = FixMode.ThreeDimensional;
break;
default:
Fix = FixMode.Unknown;
break;
}
index = 0;
while (index < 12)
{
Satellites[index] = sentence.Integer(index + 3);
index++;
}
PositionDilutionOfPrecision = sentence.Double(15);
HorizontalDilutionOfPrecision = sentence.Double(16);
VerticalDilutionOfPrecision = sentence.Double(17);
return(true);
}
/// <summary>
/// OnSentanceChanged event handler
/// </summary>
protected override void OnSentenceChanged()
{
base.OnSentenceChanged();
// Cache the sentence words
string[] words = Words;
int wordCount = words.Length;
/*
* Garmin produces several embedded GPS systems. They are easy to setup because Garmin provides a nice utility for uploading configuration data to the GPS. You first load the utility to a PC. Connect the PC to the GPS through one of the serial ports. The utility will check each baud rate until it communicates with the GPS.
The common configuration parameters are output sentences from the GPS unit, the communication baud rate with a host, and the required pulse per second.
Each sentence is preceded with a ‘$’ symbol and ends with a line-feed character. At one sentence per second, the following is out put in four seconds:
$PGRMF, 223, 424798, 041203, 215945, 13, 0000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*3B
$PGRMF, 223, 424799, 041203, 215946, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*39
$PGRMF, 223, 424800, 041203, 215947, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*34
$PGRMF, 223, 424801, 041203, 215948, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*35
The sentence is proprietary to the Garmin GPS Global Positioning System and is translated below.
$PGRMF
<1>GPS Week Number(0-1023)
<2>GPS Seconds (0 - 604799)
<3>UTC Date of position fix, ddmmyy format
<4>UTC time of position fix, hhmmss format
<5>GPS leap second count
<6>Latitude, ddmm.mmmm format (leading zeros transmitted)
<7>Latitude hemisphere N or S
<8>Longitude, ddmm.mmmm format (leading zeros transmitted)
<9>Longitude hemisphere N or S
<10>Mode M = Manual, A automatic
<11>Fix type 0 = No Fix, 1 = 2D Fix, 2 = 3D fix
<12>Speed over ground, 0 to 359 degrees true
<13>Course over ground, 0 to 9 (rounded to nearest intvalue)
<14>Time dilution of precision, 0 to 9 (rnded nearest int val)
<15>Time dilution of precision, 0 to 9 (rnded nearest int val)
*hh <CR><LF>
*/
// TODO: Convert GPS week number/seconds to UTC date/time
// Do we have enough words to parse the fix status?
if (wordCount >= 4 && words[2].Length != 0 && words[3].Length != 0)
{
// Build a UTC date/time object.
_utcDateTime = new DateTime(
int.Parse(words[2].Substring(4, 2), NmeaCultureInfo) + 2000, // Year
int.Parse(words[2].Substring(2, 2), NmeaCultureInfo), // Month
int.Parse(words[2].Substring(0, 2), NmeaCultureInfo), // Day
int.Parse(words[3].Substring(0, 2), NmeaCultureInfo), // Hour
int.Parse(words[3].Substring(2, 2), NmeaCultureInfo), // Minute
int.Parse(words[3].Substring(4, 2), NmeaCultureInfo), // Second
DateTimeKind.Utc);
}
#region Position
// Can we parse the latitude and longitude?
if (wordCount >= 8 && words[5].Length != 0 && words[6].Length != 0 && words[7].Length != 0 && words[8].Length != 0)
{
#region Parse the latitude
string latitudeWord = words[5];
int latitudeHours = int.Parse(latitudeWord.Substring(0, 2), NmeaCultureInfo);
double latitudeDecimalMinutes = double.Parse(latitudeWord.Substring(2), NmeaCultureInfo);
LatitudeHemisphere latitudeHemisphere =
words[6].Equals("N", StringComparison.Ordinal) ? LatitudeHemisphere.North : LatitudeHemisphere.South;
#endregion Parse the latitude
#region Parse the longitude
string longitudeWord = words[7];
int longitudeHours = int.Parse(longitudeWord.Substring(0, 3), NmeaCultureInfo);
double longitudeDecimalMinutes = double.Parse(longitudeWord.Substring(3), NmeaCultureInfo);
LongitudeHemisphere longitudeHemisphere =
words[8].Equals("E", StringComparison.Ordinal) ? LongitudeHemisphere.East : LongitudeHemisphere.West;
#endregion Parse the longitude
#region Build a Position from the latitude and longitude
_position = new Position(
new Latitude(latitudeHours, latitudeDecimalMinutes, latitudeHemisphere),
new Longitude(longitudeHours, longitudeDecimalMinutes, longitudeHemisphere));
#endregion Build a Position from the latitude and longitude
}
else
{
_position = Position.Invalid;
}
#endregion Position
#region Fix Mode
if (wordCount >= 9 && words[9].Length != 0)
{
_fixMode = words[9] == "A" ? FixMode.Automatic : FixMode.Manual;
}
else
{
_fixMode = FixMode.Unknown;
}
#endregion Fix Mode
#region Fix Quality
// Do we have enough data for fix quality?
if (wordCount >= 10 && words[10].Length != 0)
{
switch (int.Parse(words[10], NmeaCultureInfo))
{
case 0:
_fixQuality = FixQuality.NoFix;
break;
case 1:
_fixQuality = FixQuality.GpsFix;
break;
case 2:
_fixQuality = FixQuality.DifferentialGpsFix;
break;
case 3:
_fixQuality = FixQuality.PulsePerSecond;
break;
case 4:
_fixQuality = FixQuality.FixedRealTimeKinematic;
break;
case 5:
_fixQuality = FixQuality.FloatRealTimeKinematic;
break;
case 6:
_fixQuality = FixQuality.Estimated;
break;
case 7:
_fixQuality = FixQuality.ManualInput;
break;
case 8:
_fixQuality = FixQuality.Simulated;
break;
default:
_fixQuality = FixQuality.Unknown;
break;
}
}
else
{
// This fix quality is invalid
_fixQuality = FixQuality.Unknown;
}
#endregion Fix Quality
#region Bearing
// Do we have enough data for fix quality?
if (wordCount >= 13 && words[12].Length != 0)
{
_bearing = new Azimuth(words[12], NmeaCultureInfo);
}
else
{
_bearing = Azimuth.Invalid;
}
#endregion Bearing
#region Speed
// Do we have enough data for fix quality?
if (wordCount >= 12 && words[11].Length != 0)
{
_speed = Speed.FromKilometersPerHour(double.Parse(words[11], NmeaCultureInfo));
}
else
{
_speed = Speed.Invalid;
}
#endregion Speed
#region Position Dilution of Precision
// Do we have enough data for fix quality?
if (wordCount >= 13 && words[13].Length != 0)
{
_positionDop = new DilutionOfPrecision(float.Parse(words[13], NmeaCultureInfo));
}
else
{
_positionDop = DilutionOfPrecision.Invalid;
}
#endregion Position Dilution of Precision
}
/// <summary>
/// Handle the key down event
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void CaptureFormKeyDown(object sender, KeyEventArgs e)
{
switch (e.KeyCode)
{
case Keys.Up:
Cursor.Position = new Point(Cursor.Position.X, Cursor.Position.Y - 1);
break;
case Keys.Down:
Cursor.Position = new Point(Cursor.Position.X, Cursor.Position.Y + 1);
break;
case Keys.Left:
Cursor.Position = new Point(Cursor.Position.X - 1, Cursor.Position.Y);
break;
case Keys.Right:
Cursor.Position = new Point(Cursor.Position.X + 1, Cursor.Position.Y);
break;
case Keys.ShiftKey:
// Fixmode
if (fixMode == FixMode.None)
{
fixMode = FixMode.Initiated;
return;
}
break;
case Keys.Escape:
// Cancel
DialogResult = DialogResult.Cancel;
break;
case Keys.M:
// Toggle mouse cursor
capture.CursorVisible = !capture.CursorVisible;
Invalidate();
break;
//// TODO: Enable when the screen capture code works reliable
//case Keys.V:
// // Video
// if (capture.CaptureDetails.CaptureMode != CaptureMode.Video) {
// capture.CaptureDetails.CaptureMode = CaptureMode.Video;
// } else {
// capture.CaptureDetails.CaptureMode = captureMode;
// }
// Invalidate();
// break;
case Keys.Z:
if (captureMode == CaptureMode.Region)
{
// Toggle zoom
conf.ZoomerEnabled = !conf.ZoomerEnabled;
InitializeZoomer(conf.ZoomerEnabled);
Invalidate();
}
break;
case Keys.Space:
// Toggle capture mode
switch (captureMode)
{
case CaptureMode.Region:
// Set the window capture mode
captureMode = CaptureMode.Window;
// "Fade out" Zoom
InitializeZoomer(false);
// "Fade in" window
windowAnimator = new RectangleAnimator(new Rectangle(cursorPos, Size.Empty), captureRect, FramesForMillis(700), EasingType.Quintic, EasingMode.EaseOut);
captureRect = Rectangle.Empty;
Invalidate();
break;
case CaptureMode.Window:
// Set the region capture mode
captureMode = CaptureMode.Region;
// "Fade out" window
windowAnimator.ChangeDestination(new Rectangle(cursorPos, Size.Empty), FramesForMillis(700));
// Fade in zoom
InitializeZoomer(conf.ZoomerEnabled);
captureRect = Rectangle.Empty;
Invalidate();
break;
}
selectedCaptureWindow = null;
OnMouseMove(this, new MouseEventArgs(MouseButtons.None, 0, Cursor.Position.X, Cursor.Position.Y, 0));
break;
case Keys.Return:
// Confirm
if (captureMode == CaptureMode.Window)
{
DialogResult = DialogResult.OK;
}
break;
}
}
/// <summary>
/// This method is used to "fix" the mouse coordinates when keeping shift/ctrl pressed
/// </summary>
/// <param name="currentMouse"></param>
/// <returns></returns>
private Point FixMouseCoordinates(Point currentMouse) {
if (_fixMode == FixMode.Initiated) {
if (_previousMousePos.X != currentMouse.X) {
_fixMode = FixMode.Vertical;
} else if (_previousMousePos.Y != currentMouse.Y) {
_fixMode = FixMode.Horizontal;
}
} else if (_fixMode == FixMode.Vertical) {
currentMouse = new Point(currentMouse.X, _previousMousePos.Y);
} else if (_fixMode == FixMode.Horizontal) {
currentMouse = new Point(_previousMousePos.X, currentMouse.Y);
}
_previousMousePos = currentMouse;
return currentMouse;
}
/// <inheritdoc />
protected override void SetIndexValue(int idx, ReadOnlySpan <char> val)
{
switch (idx)
{
case 0:
SelectionMode = GetSelectionMode(val);
break;
case 1:
Mode = GetFixMode(val);
break;
case 2:
Sat1Id = GetInteger(val);
break;
case 3:
Sat2Id = GetInteger(val);
break;
case 4:
Sat3Id = GetInteger(val);
break;
case 5:
Sat4Id = GetInteger(val);
break;
case 6:
Sat5Id = GetInteger(val);
break;
case 7:
Sat6Id = GetInteger(val);
break;
case 8:
Sat7Id = GetInteger(val);
break;
case 9:
Sat8Id = GetInteger(val);
break;
case 10:
Sat9Id = GetInteger(val);
break;
case 11:
Sat10Id = GetInteger(val);
break;
case 12:
Sat11Id = GetInteger(val);
break;
case 13:
Sat12Id = GetInteger(val);
break;
case 14:
PDOPMeters = GetDouble(val);
break;
case 15:
HDOPMeters = GetDouble(val);
break;
case 16:
VDOPMeters = GetDouble(val);
break;
}
}
/// <summary>
/// Called when [sentence changed].
/// </summary>
protected override void OnSentenceChanged()
{
// First, process the basic info for the sentence
base.OnSentenceChanged();
// Cache the sentence words
string[] words = Words;
int wordCount = words.Length;
#region Fix mode
if (wordCount >= 1 && words[0].Length != 0)
{
switch (words[0])
{
case "A":
_fixMode = FixMode.Automatic;
break;
case "M":
_fixMode = FixMode.Manual;
break;
default:
_fixMode = FixMode.Unknown;
break;
}
}
else
{
_fixMode = FixMode.Unknown;
}
#endregion Fix mode
#region Fix method
// Get the fix quality information
if (wordCount >= 2 && words[1].Length != 0)
{
switch (words[1])
{
case "1":
_fixMethod = FixMethod.NoFix;
break;
case "2":
_fixMethod = FixMethod.Fix2D;
break;
case "3":
_fixMethod = FixMethod.Fix3D;
break;
default:
_fixMethod = FixMethod.Unknown;
break;
}
}
else
{
_fixMethod = FixMethod.Unknown;
}
#endregion Fix method
#region Fixed satellites
if (wordCount >= 3)
{
// The sentence supports up to 12 satellites
_fixedSatellites = new List <Satellite>(12);
// Get each satellite PRN number
int count = wordCount < 14 ? wordCount : 14;
for (int index = 2; index < count; index++)
{
// Is the word empty?
if (words[index].Length != 0)
{
// No. Add a satellite
_fixedSatellites.Add(
// We'll only have an empty object for now
new Satellite(int.Parse(words[index], NmeaCultureInfo)));
}
}
}
#endregion Fixed satellites
#region Dilution of Precision
// Set overall dilution of precision
if (wordCount >= 15 && words[14].Length != 0)
{
_positionDop = new DilutionOfPrecision(float.Parse(words[14], NmeaCultureInfo));
}
else
{
_positionDop = DilutionOfPrecision.Invalid;
}
// Set horizontal dilution of precision
if (wordCount >= 16 && words[15].Length != 0)
{
_horizontalDop = new DilutionOfPrecision(float.Parse(words[15], NmeaCultureInfo));
}
else
{
_horizontalDop = DilutionOfPrecision.Invalid;
}
// Set vertical dilution of precision
if (wordCount >= 17 && words[16].Length != 0)
{
_verticalDop = new DilutionOfPrecision(float.Parse(words[16], NmeaCultureInfo));
}
else
{
_verticalDop = DilutionOfPrecision.Invalid;
}
#endregion Dilution of Precision
}
protected override void OnSentenceChanged()
{
// First, process the basic info for the sentence
base.OnSentenceChanged();
// Cache the sentence words
string[] words = base.Words;
int wordCount = words.Length;
#region Fix mode
if (wordCount >= 1 && words[0].Length != 0)
{
switch (words[0])
{
case "A":
_FixMode = FixMode.Automatic;
break;
case "M":
_FixMode = FixMode.Manual;
break;
default:
_FixMode = FixMode.Unknown;
break;
}
}
else
{
_FixMode = FixMode.Unknown;
}
#endregion
#region Fix method
// Get the fix quality information
if (wordCount >= 2 && words[1].Length != 0)
{
switch (words[1])
{
case "1":
_FixMethod = FixMethod.NoFix;
break;
case "2":
_FixMethod = FixMethod.Fix2D;
break;
case "3":
_FixMethod = FixMethod.Fix3D;
break;
default:
_FixMethod = FixMethod.Unknown;
break;
}
}
else
{
_FixMethod = FixMethod.Unknown;
}
#endregion
#region Fixed satellites
if (wordCount >= 3)
{
// The sentence supports up to 12 satellites
_FixedSatellites = new List<Satellite>(12);
// Get each satellite PRN number
int count = wordCount < 14 ? wordCount : 14;
for (int index = 2; index < count; index++)
// Is the word empty?
if (words[index].Length != 0)
// No. Add a satellite
_FixedSatellites.Add(
// We'll only have an empty object for now
new Satellite(int.Parse(words[index], NmeaCultureInfo)));
}
#endregion
#region Dilution of Precision
// Set overall dilution of precision
if (wordCount >= 15 && words[14].Length != 0)
_PositionDop = new DilutionOfPrecision(float.Parse(words[14], NmeaCultureInfo));
else
_PositionDop = DilutionOfPrecision.Invalid;
// Set horizontal dilution of precision
if (wordCount >= 16 && words[15].Length != 0)
_HorizontalDop = new DilutionOfPrecision(float.Parse(words[15], NmeaCultureInfo));
else
_HorizontalDop = DilutionOfPrecision.Invalid;
// Set vertical dilution of precision
if (wordCount >= 17 && words[16].Length != 0)
_VerticalDop = new DilutionOfPrecision(float.Parse(words[16], NmeaCultureInfo));
else
_VerticalDop = DilutionOfPrecision.Invalid;
#endregion
}
/// <summary>
/// Creates a new instance with the specified fix method.
/// </summary>
/// <param name="fixMode">A value from the <strong>FixMode</strong> enumeration.</param>
/// <remarks></remarks>
public FixModeEventArgs(FixMode fixMode)
{
_FixMode = fixMode;
}
/// <summary>
/// Handle the key down event
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void CaptureFormKeyDown(object sender, KeyEventArgs e) {
int step = _isCtrlPressed ? 10 : 1;
switch (e.KeyCode) {
case Keys.Up:
Cursor.Position = new Point(Cursor.Position.X, Cursor.Position.Y - step);
break;
case Keys.Down:
Cursor.Position = new Point(Cursor.Position.X, Cursor.Position.Y + step);
break;
case Keys.Left:
Cursor.Position = new Point(Cursor.Position.X - step, Cursor.Position.Y);
break;
case Keys.Right:
Cursor.Position = new Point(Cursor.Position.X + step, Cursor.Position.Y);
break;
case Keys.ShiftKey:
// Fixmode
if (_fixMode == FixMode.None) {
_fixMode = FixMode.Initiated;
}
break;
case Keys.ControlKey:
_isCtrlPressed = true;
break;
case Keys.Escape:
// Cancel
DialogResult = DialogResult.Cancel;
break;
case Keys.M:
// Toggle mouse cursor
_capture.CursorVisible = !_capture.CursorVisible;
Invalidate();
break;
//// TODO: Enable when the screen capture code works reliable
//case Keys.V:
// // Video
// if (capture.CaptureDetails.CaptureMode != CaptureMode.Video) {
// capture.CaptureDetails.CaptureMode = CaptureMode.Video;
// } else {
// capture.CaptureDetails.CaptureMode = captureMode;
// }
// Invalidate();
// break;
case Keys.Z:
if (_captureMode == CaptureMode.Region) {
// Toggle zoom
Conf.ZoomerEnabled = !Conf.ZoomerEnabled;
InitializeZoomer(Conf.ZoomerEnabled);
Invalidate();
}
break;
case Keys.Space:
// Toggle capture mode
switch (_captureMode) {
case CaptureMode.Region:
// Set the window capture mode
_captureMode = CaptureMode.Window;
// "Fade out" Zoom
InitializeZoomer(false);
// "Fade in" window
_windowAnimator = new RectangleAnimator(new Rectangle(_cursorPos, Size.Empty), _captureRect, FramesForMillis(700), EasingType.Quintic, EasingMode.EaseOut);
_captureRect = Rectangle.Empty;
Invalidate();
break;
case CaptureMode.Window:
// Set the region capture mode
_captureMode = CaptureMode.Region;
// "Fade out" window
_windowAnimator.ChangeDestination(new Rectangle(_cursorPos, Size.Empty), FramesForMillis(700));
// Fade in zoom
InitializeZoomer(Conf.ZoomerEnabled);
_captureRect = Rectangle.Empty;
Invalidate();
break;
}
_selectedCaptureWindow = null;
OnMouseMove(this, new MouseEventArgs(MouseButtons.None, 0, Cursor.Position.X, Cursor.Position.Y, 0));
break;
case Keys.Return:
// Confirm
if (_captureMode == CaptureMode.Window) {
DialogResult = DialogResult.OK;
} else if (!_mouseDown) {
HandleMouseDown();
} else if (_mouseDown) {
HandleMouseUp();
}
break;
}
}
public GpgsaSentence(FixMode fixMode, FixMethod fixMethod, IList<Satellite> satellites,
DilutionOfPrecision positionDilutionOfPrecision,
DilutionOfPrecision horizontalDilutionOfPrecision,
DilutionOfPrecision verticalDilutionOfPrecision)
{
// Use a string builder to create the sentence text
StringBuilder builder = new StringBuilder(128);
// Append the command word
builder.Append("$GPGSA");
// Append a comma
builder.Append(',');
#region Append the fix method
switch (_FixMode)
{
case FixMode.Automatic:
builder.Append("A");
break;
default:
builder.Append("M");
break;
}
#endregion
// Append a comma
builder.Append(',');
#region Append the fix method
switch (_FixMethod)
{
case FixMethod.Fix2D:
builder.Append("2");
break;
case FixMethod.Fix3D:
builder.Append("3");
break;
default:
builder.Append("1");
break;
}
#endregion
// Append a comma
builder.Append(',');
#region Fixed satellites
/* A comma-delimited list of satellites involved in a fix. Up to 12 satellites can be serialized.
* This one concerns me, because while the limit is 12, ever more satellites are being launched.
* Should we just serialize everything??
*/
// Get a count of satellites to write, up to 123. We'll scrub the list to ensure only fixed satellites are written
int fixedSatellitesWritten = 0;
for(int index = 0; index < satellites.Count; index++)
{
// Get the satellite
Satellite item = satellites[index];
// Is it fixed?
if(item.IsFixed)
{
// Yes. It cannot have babies
builder.Append(item.PseudorandomNumber.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",");
// Update the count
fixedSatellitesWritten++;
// If we're at 12, that's the limit. Stop here
if(fixedSatellitesWritten == 12)
break;
}
}
// If we wrote less than 12 satellites, write commas for the remainder
for(int index = 0; index < 12 - fixedSatellitesWritten; index++)
builder.Append(",");
#endregion
// NOTE: Commas have been written at this point
// Position Dilution of Precision
builder.Append(positionDilutionOfPrecision.Value.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",");
// Horizontal Dilution of Precision
builder.Append(horizontalDilutionOfPrecision.Value.ToString(NmeaCultureInfo));
// Append a comma
builder.Append(",");
// Vertical Dilution of Precision
builder.Append(verticalDilutionOfPrecision.Value.ToString(NmeaCultureInfo));
// Set this object's sentence
SetSentence(builder.ToString());
// Finally, append the checksum
AppendChecksum();
}
void CaptureFormKeyDown(object sender, KeyEventArgs e)
{
// Check fixmode
if (e.KeyCode == Keys.ShiftKey) {
if (fixMode == FixMode.None) {
fixMode = FixMode.Initiated;
return;
}
}
if (e.KeyCode == Keys.Escape) {
DialogResult = DialogResult.Cancel;
} else if (e.KeyCode == Keys.M) {
// Toggle mouse cursor
capture.CursorVisible = !capture.CursorVisible;
pictureBox.Invalidate();
} else if (e.KeyCode == Keys.V && conf.isExperimentalFeatureEnabled("Video")) {
capture.CaptureDetails.CaptureMode = CaptureMode.Video;
pictureBox.Invalidate();
} else if (e.KeyCode == Keys.Space) {
switch (captureMode) {
case CaptureMode.Region:
captureMode = CaptureMode.Window;
break;
case CaptureMode.Window:
captureMode = CaptureMode.Region;
break;
}
pictureBox.Invalidate();
selectedCaptureWindow = null;
PictureBoxMouseMove(this, new MouseEventArgs(MouseButtons.None, 0, Cursor.Position.X, Cursor.Position.Y, 0));
} else if (e.KeyCode == Keys.Return && captureMode == CaptureMode.Window) {
DialogResult = DialogResult.OK;
}
}
protected Emulator(string name)
{
_Name = name;
// Create new buffers for reading and writing
_ReadBuffer = new List<byte>(_DefaultReadBufferSize);
_WriteBuffer = new List<byte>(_DefaultWriteBufferSize);
// Initialize simulated values
_ReadDataAvailableWaitHandle = new ManualResetEvent(false);
_WriteDataAvailableWaitHandle = new ManualResetEvent(false);
_EmulationIntervalWaitHandle = new ManualResetEvent(false);
// Default timeouts for reading and writing
_ReadTimeout = _DefaultReadTimeout;
_WriteTimeout = _DefaultWriteTimeout;
// Simulated values
_seed = new Random();
_UtcDateTime = DateTime.UtcNow;
_CurrentPosition = GeoFramework.Position.Empty;
_Altitude = Distance.FromFeet(1000);
_Route = new List<Position>();
_Satellites = new List<Satellite>();
_FixQuality = FixQuality.GpsFix;
_FixMode = FixMode.Automatic;
_FixMethod = FixMethod.Fix3D;
_FixStatus = FixStatus.Fix;
_HorizontalDop = DilutionOfPrecision.Good;
_VerticalDop = DilutionOfPrecision.Good;
_MeanDop = DilutionOfPrecision.Good;
_Speed = Speed.FromStatuteMilesPerHour(20);
_speedLow = Speed.FromKilometersPerSecond(10).Value;
_speedHigh = Speed.FromKilometersPerSecond(25).Value;
_Bearing = Azimuth.Southwest;
_bearingStart = _seed.NextDouble() * 360;
_bearingArc = 10;
}
/// <summary>
/// OnSentanceChanged event handler
/// </summary>
protected override void OnSentenceChanged()
{
base.OnSentenceChanged();
// Cache the sentence words
string[] words = Words;
int wordCount = words.Length;
/*
* Garmin produces several embedded GPS systems. They are easy to setup because Garmin provides a nice utility for uploading configuration data to the GPS. You first load the utility to a PC. Connect the PC to the GPS through one of the serial ports. The utility will check each baud rate until it communicates with the GPS.
*
* The common configuration parameters are output sentences from the GPS unit, the communication baud rate with a host, and the required pulse per second.
*
* Each sentence is preceded with a ‘$’ symbol and ends with a line-feed character. At one sentence per second, the following is out put in four seconds:
*
* $PGRMF, 223, 424798, 041203, 215945, 13, 0000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*3B
* $PGRMF, 223, 424799, 041203, 215946, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*39
* $PGRMF, 223, 424800, 041203, 215947, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*34
* $PGRMF, 223, 424801, 041203, 215948, 13, 00000.0000, N, 00000.0000, W, A, 2, 0, 62, 2, 1*35
*
* The sentence is proprietary to the Garmin GPS Global Positioning System and is translated below.
*
* $PGRMF
* <1>GPS Week Number(0-1023)
* <2>GPS Seconds (0 - 604799)
* <3>UTC Date of position fix, ddmmyy format
* <4>UTC time of position fix, hhmmss format
* <5>GPS leap second count
* <6>Latitude, ddmm.mmmm format (leading zeros transmitted)
* <7>Latitude hemisphere N or S
* <8>Longitude, ddmm.mmmm format (leading zeros transmitted)
* <9>Longitude hemisphere N or S
* <10>Mode M = Manual, A automatic
* <11>Fix type 0 = No Fix, 1 = 2D Fix, 2 = 3D fix
* <12>Speed over ground, 0 to 359 degrees true
* <13>Course over ground, 0 to 9 (rounded to nearest intvalue)
* <14>Time dilution of precision, 0 to 9 (rnded nearest int val)
* <15>Time dilution of precision, 0 to 9 (rnded nearest int val)
* hh <CR><LF>
*/
// TODO: Convert GPS week number/seconds to UTC date/time
// Do we have enough words to parse the fix status?
if (wordCount >= 4 && words[2].Length != 0 && words[3].Length != 0)
{
// Build a UTC date/time object.
_utcDateTime = new DateTime(
int.Parse(words[2].Substring(4, 2), NmeaCultureInfo) + 2000, // Year
int.Parse(words[2].Substring(2, 2), NmeaCultureInfo), // Month
int.Parse(words[2].Substring(0, 2), NmeaCultureInfo), // Day
int.Parse(words[3].Substring(0, 2), NmeaCultureInfo), // Hour
int.Parse(words[3].Substring(2, 2), NmeaCultureInfo), // Minute
int.Parse(words[3].Substring(4, 2), NmeaCultureInfo), // Second
DateTimeKind.Utc);
}
#region Position
// Can we parse the latitude and longitude?
if (wordCount >= 8 && words[5].Length != 0 && words[6].Length != 0 && words[7].Length != 0 && words[8].Length != 0)
{
#region Parse the latitude
string latitudeWord = words[5];
int latitudeHours = int.Parse(latitudeWord.Substring(0, 2), NmeaCultureInfo);
double latitudeDecimalMinutes = double.Parse(latitudeWord.Substring(2), NmeaCultureInfo);
LatitudeHemisphere latitudeHemisphere =
words[6].Equals("N", StringComparison.Ordinal) ? LatitudeHemisphere.North : LatitudeHemisphere.South;
#endregion Parse the latitude
#region Parse the longitude
string longitudeWord = words[7];
int longitudeHours = int.Parse(longitudeWord.Substring(0, 3), NmeaCultureInfo);
double longitudeDecimalMinutes = double.Parse(longitudeWord.Substring(3), NmeaCultureInfo);
LongitudeHemisphere longitudeHemisphere =
words[8].Equals("E", StringComparison.Ordinal) ? LongitudeHemisphere.East : LongitudeHemisphere.West;
#endregion Parse the longitude
#region Build a Position from the latitude and longitude
_position = new Position(
new Latitude(latitudeHours, latitudeDecimalMinutes, latitudeHemisphere),
new Longitude(longitudeHours, longitudeDecimalMinutes, longitudeHemisphere));
#endregion Build a Position from the latitude and longitude
}
else
{
_position = Position.Invalid;
}
#endregion Position
#region Fix Mode
if (wordCount >= 9 && words[9].Length != 0)
{
_fixMode = words[9] == "A" ? FixMode.Automatic : FixMode.Manual;
}
else
{
_fixMode = FixMode.Unknown;
}
#endregion Fix Mode
#region Fix Quality
// Do we have enough data for fix quality?
if (wordCount >= 10 && words[10].Length != 0)
{
switch (int.Parse(words[10], NmeaCultureInfo))
{
case 0:
_fixQuality = FixQuality.NoFix;
break;
case 1:
_fixQuality = FixQuality.GpsFix;
break;
case 2:
_fixQuality = FixQuality.DifferentialGpsFix;
break;
case 3:
_fixQuality = FixQuality.PulsePerSecond;
break;
case 4:
_fixQuality = FixQuality.FixedRealTimeKinematic;
break;
case 5:
_fixQuality = FixQuality.FloatRealTimeKinematic;
break;
case 6:
_fixQuality = FixQuality.Estimated;
break;
case 7:
_fixQuality = FixQuality.ManualInput;
break;
case 8:
_fixQuality = FixQuality.Simulated;
break;
default:
_fixQuality = FixQuality.Unknown;
break;
}
}
else
{
// This fix quality is invalid
_fixQuality = FixQuality.Unknown;
}
#endregion Fix Quality
#region Bearing
// Do we have enough data for fix quality?
if (wordCount >= 13 && words[12].Length != 0)
{
_bearing = new Azimuth(words[12], NmeaCultureInfo);
}
else
{
_bearing = Azimuth.Invalid;
}
#endregion Bearing
#region Speed
// Do we have enough data for fix quality?
if (wordCount >= 12 && words[11].Length != 0)
{
_speed = Speed.FromKilometersPerHour(double.Parse(words[11], NmeaCultureInfo));
}
else
{
_speed = Speed.Invalid;
}
#endregion Speed
#region Position Dilution of Precision
// Do we have enough data for fix quality?
if (wordCount >= 13 && words[13].Length != 0)
{
_positionDop = new DilutionOfPrecision(float.Parse(words[13], NmeaCultureInfo));
}
else
{
_positionDop = DilutionOfPrecision.Invalid;
}
#endregion Position Dilution of Precision
}
