private void GNSS_RMCSentenceReceived(object sender, RMCMessageEventArgs e)
{
AUXGNSSTimeoutTS = 0;
AUXGNSSTimeout = false;
if (e.IsValid)
{
AUXLatitude.Value = e.Latitude;
AUXLongitude.Value = e.Longitude;
if (!double.IsNaN(e.TrackTrue))
{
AUXTrack.Value = e.TrackTrue;
}
if (!double.IsNaN(e.SpeedKmh))
{
AUXSpeed.Value = e.SpeedKmh;
}
gnssTimeFix = e.TimeFix;
gnssTimeFixLocalTS = DateTime.Now;
UpdateDistanceToTarget();
LocationUpdatedEvent.Rise(this, new LocationUpdatedEventArgs("AUX GNSS", e.Latitude, e.Longitude, 0.0, true, e.TimeFix));
OnSystemUpdate();
}
}
private void pCore_TargetLocationUpdatedExEventHandler(object sender, TargetLocationUpdatedExEventArgs e)
{
targetFixTimeStamp = e.TimeStamp;
TargetCourse.Value = e.Course;
IsRadialErrorExeedsThreshold = false;
LocationUpdatedEvent.Rise(this,
new LocationUpdatedEventArgs("RWLT (RAW)",
e.Location.Latitude, e.Location.Longitude, e.Location.Depth,
e.Location.RadialError <= pCore.RadialErrorThreshold,
e.TimeStamp));
GeoPoint locationFlt = new GeoPoint();
if (TargetDepth.IsInitialized)
{
locationFlt = trkFilter.Filter(e.Location.Latitude, e.Location.Longitude);
}
else
{
locationFlt = new GeoPoint(e.Location.Latitude, e.Location.Longitude);
}
LocationUpdatedEvent.Rise(this,
new LocationUpdatedEventArgs("RWLT (FLT)",
locationFlt.Latitude, locationFlt.Longitude, e.Location.Depth,
e.Location.RadialError <= pCore.RadialErrorThreshold,
e.TimeStamp));
if (isStatistics)
{
UpdateStat(locationFlt.Latitude, locationFlt.Longitude);
}
if (OutPortUsed)
{
double wTemp = double.NaN;
if (TargetTemperature.IsInitialized)
{
wTemp = TargetTemperature.Value;
}
WriteOutData(locationFlt.Latitude,
locationFlt.Longitude,
e.Location.Depth,
e.Location.RadialError,
e.Course,
e.Location.RadialError <= pCore.RadialErrorThreshold,
wTemp);
}
TargetLocationRadialError.Value = e.Location.RadialError;
TargetLatitude.Value = locationFlt.Latitude;
TargetLongitude.Value = locationFlt.Longitude;
UpdateDistanceToTarget();
}
public void MarkCurrentLocation()
{
if (TargetLatitude.IsInitialized && TargetLongitude.IsInitialized)
{
LocationUpdatedEvent.Rise(this,
new LocationUpdatedEventArgs("Marked", TargetLatitude.Value, TargetLongitude.Value,
TargetDepth.IsInitialized ? TargetDepth.Value : 0.0, true, targetFixTimeStamp));
}
}
public void Apply(LocationUpdatedEvent e)
{
Locations.Add(new LocationEntity()
{
Longitude = e.Longitude,
Latitude = e.Latitude,
Zindex = e.ZIndex,
TimeStamp = e.TimeStamp
});
}
private void OnLBLA(object[] parameters)
{
// IC_D2H_LBLA $PRWLA,bID,baseLat,baseLon,[baseDpt],baseBat,pingerDataID,pingerData,TOAsecond,MSR_dB
BaseIDs baseID = (parameters[0] == null) ? BaseIDs.BASE_INVALID : (BaseIDs)(int)parameters[0];
double baseLat = doubleNullChecker(parameters[1]);
double baseLon = doubleNullChecker(parameters[2]);
double baseDepth = (parameters[3] == null) ? RWLT.DEFAULT_BASE_DPT_M : (double)parameters[3];
double baseBat = doubleNullChecker(parameters[4]);
PingerDataIDs pDataID = (parameters[5] == null) ? PingerDataIDs.DID_INVALID : (PingerDataIDs)(int)parameters[5];
double pData = doubleNullChecker(parameters[6]);
double TOAs = doubleNullChecker(parameters[7]);
double MSR = doubleNullChecker(parameters[8]);
if ((baseID != BaseIDs.BASE_INVALID) &&
(!double.IsNaN(baseLat)) &&
(!double.IsNaN(baseLon)) &&
(!double.IsNaN(baseDepth)))
{
if ((baseID == auxGNSSBuoyID) && (!AUXGNSSUsed))
{
GNSS_RMCSentenceReceived(this,
new RMCMessageEventArgs(0xFF,
TalkerIdentifiers.GN,
GetTimeStamp(),
baseLat,
baseLon,
double.NaN,
double.NaN,
double.NaN,
true));
}
LocationUpdatedEvent.Rise(this, new LocationUpdatedEventArgs(baseID.ToString().Replace('_', ' '),
baseLat, baseLon, baseDepth,
true,
GetTimeStamp()));
if (!double.IsNaN(MSR))
{
BaseMSRs[baseID].Value = MSR;
}
if (!double.IsNaN(baseBat))
{
BaseBatVoltages[baseID].Value = baseBat;
}
if (gravityAccNeedsUpdate)
{
gravityAcc = PHX.Gravity_constant_wgs84_calc(baseLat);
gravityAccNeedsUpdate = false;
}
if (pDataID == PingerDataIDs.DID_BAT)
{
TargetBatVoltage.Value = pData;
}
else if (pDataID == PingerDataIDs.DID_TMP)
{
TargetTemperature.Value = pData;
if (IsAutoSoundSpeed && TargetPressure.IsInitialized)
{
Soundspeed = PHX.Speed_of_sound_UNESCO_calc(TargetTemperature.Value, TargetPressure.Value / 2.0, salinity);
}
}
else if (pDataID == PingerDataIDs.DID_PRS)
{
TargetPressure.Value = pData;
if (TargetTemperature.IsInitialized)
{
if (IsAutoSoundSpeed)
{
Soundspeed = PHX.Speed_of_sound_UNESCO_calc(TargetTemperature.Value, TargetPressure.Value / 2.0, salinity);
}
double rho = PHX.Water_density_calc(TargetTemperature.Value, TargetPressure.Value / 2.0, salinity);
// p0 is zero, because pinger calibrates surface pressure on start and transmits pressure relative to the surface
TargetDepth.Value = PHX.Depth_by_pressure_calc(TargetPressure.Value, 0, rho, gravityAcc);
}
else if (TargetPressure.IsInitialized)
{
TargetDepth.Value = PHX.Depth_by_pressure_calc(TargetPressure.Value, 0, PHX.PHX_FWTR_DENSITY_KGM3, gravityAcc);
}
}
else if (pDataID == PingerDataIDs.DID_CODE)
{
TargetAlarm.Value = (PingerCodeIDs)Enum.ToObject(typeof(PingerCodeIDs), Convert.ToInt32(pData));
}
var bases = baseProcessor.ProcessBase(baseID, baseLat, baseLon, baseDepth, TOAs);
if (bases != null)
{
TryLocate(bases);
}
}
OnSystemUpdate();
}
