/// <summary>
/// Event handler for the SerialGPS, parses the NMEA message and updates CurrentGeopoint.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void _serialGPSDevice_MessageReceived(object sender, NmeaMessageReceivedEventArgs e)
{
if (!_serialGPSDeviceFound)
{
_serialGPSDeviceFound = true;
}
double Latitude = 0.0, Longitude = 0.0;
NMEAMessage = e.Message.ToString();
//Parse all NMEA messages supported by BU353-s4.
//Only GGA, RMC, and GLL support location
switch (e.Message.MessageType)
{
case "GPGGA":
Gpgga gga = (Gpgga)e.Message;
Latitude = gga.Latitude;
Longitude = gga.Longitude;
break;
case "GPRMC":
Gprmc rmc = (Gprmc)e.Message;
Latitude = rmc.Latitude;
Longitude = rmc.Longitude;
break;
case "GPGLL":
Gpgll gll = (Gpgll)e.Message;
Latitude = gll.Latitude;
Longitude = gll.Longitude;
break;
case "GPGSA":
Gpgsa gsa = (Gpgsa)e.Message;
break;
case "GPGSV":
Gpgsv gsv = (Gpgsv)e.Message;
break;
}
//make sure the delta-p is above a threshold
if (Latitude != 0.0 && Longitude != 0.0)
{
double distance = Haversine(Latitude, Longitude, CurrentGeopoint.Position.Latitude, CurrentGeopoint.Position.Longitude);
if (distance > 0) //2.5m is minimum accuracy of BU-353 S4 and WAAS/SBAS corrections
{
CurrentGeopoint = CreateGeopoint(Latitude, Longitude);
}
}
}
private void NmeaStreamDevice_MessageReceived(object sender, NmeaMessageReceivedEventArgs e)
{
if (!messageStats.ContainsKey(e.Message.MessageType))
{
messageStats.Add(e.Message.MessageType, 0);
}
messageStats[e.Message.MessageType]++;
switch (e.Message.MessageType)
{
case "GPGSV":
Gpgsv gpgsv = (Gpgsv)e.Message;
numSattelites = gpgsv.SVsInView;
break;
case "GPGLL": //enthält GPS Daten
Gpgll gpgll = (Gpgll)e.Message;
if (gpgll.DataActive)
{
lon = gpgll.Longitude;
lat = gpgll.Latitude;
validGpsSignal = true;
gpsLlTimestamp = DateTime.Now;
}
break;
case "GPGSA":
Gpgsa gpgsa = (Gpgsa)e.Message;
fixMode = gpgsa.FixMode;
break;
case "GPRMC": //enthält GPS Daten
Gprmc gprmc = (Gprmc)e.Message;
break;
case "GPVTG":
break;
case "GPZDA":
break;
case "GPGGA": //enthält GPS Daten
Gpgga gpgga = (Gpgga)e.Message;
altitude = gpgga.Altitude;
break;
default:
lock (lockVictim)
{
tourStreamWriter.WriteLine(String.Format("UNIMP_GPS;", e.Message.ToString()));
}
break;
}
}
public void TestGprmc()
{
string input = "$GPRMC,123519,A,4807.038,S,01131.000,W,022.4,084.4,230313,003.1,W*6A";
var msg = NmeaMessage.Parse(input);
Assert.IsInstanceOfType(msg, typeof(Gprmc));
Gprmc rmc = (Gprmc)msg;
Assert.AreEqual(new DateTime(2013, 03, 23, 12, 35, 19, DateTimeKind.Utc), rmc.FixTime);
Assert.AreEqual(-48.1173, rmc.Latitude);
Assert.AreEqual(-11.516666666666667, rmc.Longitude, 0.0000000001);
}
