private void Parse(int sourceID, string message)
{
NMEAIncomingMessageReceived.Rise(this, new NMEAMessageEventArgs(sourceID, message));
try
{
var pResult = NMEAParser.Parse(message);
if (pResult is NMEAStandartSentence)
{
NMEAStandartSentence sentence = (NMEAStandartSentence)pResult;
if (standardSenteceParsers.ContainsKey(sentence.SentenceID))
{
standardSenteceParsers[sentence.SentenceID](sourceID, sentence.TalkerID, sentence.parameters);
}
else
{
NMEAStandartUnsupportedSentenceParsed.Rise(this, new NMEAUnsupportedStandartEventArgs(sourceID, sentence));
}
}
else
{
NMEAProprietaryUnsupportedSentenceParsed.Rise(this, new NMEAUnsupportedProprietaryEventArgs(sourceID, (pResult as NMEAProprietarySentence)));
}
}
catch (Exception ex)
{
LogEventHandler.Rise(this, new LogEventArgs(LogLineType.ERROR, ex));
}
}
private void OnReadFinished(string result)
{
string[] separators = { "\r\n" };
var sentences = result.Split(separators, System.StringSplitOptions.RemoveEmptyEntries).ToList();
foreach (var sentence in sentences)
{
var nmeaResult = parser.Parse(sentence);
if (nmeaResult != null)
{
// the GoogleMap script from the asset store will pull new images every time we call refresh,
// so we avoid this when the position is static to not get 403
if (nmeaResult.Type == ResultType.Postion &&
Vector2.Distance(new Vector2(nmeaResult.Lat, nmeaResult.Lon), new Vector2(lastPositionResult.Lat, lastPositionResult.Lon)) != 0)
{
googleMapComponent.centerLocation.latitude = nmeaResult.Lat;
googleMapComponent.centerLocation.longitude = nmeaResult.Lon;
lastPositionResult = nmeaResult;
// we have to do the refresh on the map from the main thread, so we store a reference here to do it in the next frame
refreshMapObject = true;
}
else if (nmeaResult.Type == ResultType.Heading)
{
// same here, we can not access the transform of a game object from outside the main thread
lastHeadingResult = nmeaResult;
}
}
}
status = RequestStatus.READY;
}
public void WXTMsgTest()
{
Stopwatch stopWatch = new Stopwatch();
stopWatch.Start();
string message = "$WIXDR,A,204,D,0,A,219,D,1,A,248,D,2,S,0.9,M,0,S,1.2,M,1,S,1.6,M,2*5A" + Environment.NewLine;
var nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 1:" + stopWatch.ElapsedTicks);
var tmp = (NMEAStandardSentence)nmeaSentence;
var talkerID = tmp.TalkerID;
var sentenceIdentifiers = tmp.SentenceID;
stopWatch.Start();
message = "$WIXDR,C,22.7,C,0,H,41.5,P,0,P,1017.7,H,0*79" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 2:" + stopWatch.ElapsedTicks);
stopWatch.Start();
message = "$WIXDR,A,204,D,0,A,219,D,1,A,248,D,2,S,0.9,M,0,S,1.2,M,1,S,1.6,M,2*5A" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 3:" + stopWatch.ElapsedTicks);
}
public void ParseGPGGAStringWithNullField()
{
string str = "$GPGGA,,,,,,,,,,,99.99,M,,*35";
var parser = new NMEAParser();
var res = parser.Parse(str);
FixData data = (FixData)res;
}
public void Parse_FourSatelliteData_FourListLength()
{
string testData = "$GPGSV,3,1,12,30,72,253,36,05,70,124,42,24,37,082,43,02,37,112,45*76";
int expectedCount = 4;
var entityList = NMEAParser.Parse(new List <string>(new string[] { testData })).Key.ToList();
Assert.AreEqual(expectedCount, entityList.Count);
}
public void Parse_OneSatelliteData_OneListLength()
{
string testData = "$GPGSV,3,1,12,30,72,253,36,,,,,,,,,,,,*76";
int expectedCount = 1;
var entityList = NMEAParser.Parse(new List <string>(new string[] { testData })).Key.ToList();
Assert.AreEqual(expectedCount, entityList.Count);
}
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
}
}
public void ParseGPVTGString()
{
string str = "$GPVTG,055.7,T,034.4,M,005.5,N,010.2,K*49";
var parser = new NMEAParser();
var res = parser.Parse(str);
CourseData data = (CourseData)res;
Assert.AreEqual(55.7, data.COG);
Assert.AreEqual(5.5, data.KnotSOG);
Assert.AreEqual(10.2, data.KphSOG);
}
public void ParseGPGGAStringFalseChecksum()
{
string str = "$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*12";
var parser = new NMEAParser();
try
{
var res = parser.Parse(str);
Assert.Fail("Parsing message with invalid checksum should fail");
}
catch (Legacy.InvalidChecksumException)
{
}
}
public void ParseUnknownNMEAString()
{
string str = "$GPABC,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*46";
var parser = new NMEAParser();
try
{
var res = parser.Parse(str);
Assert.Fail("Parsing message with unknown message type should fail");
}
catch (Legacy.UnknownMessageException)
{
}
}
public MeasMsg Parse(string message)
{
try
{
if (string.IsNullOrWhiteSpace(message))
{
return(null);
}
// Debug.WriteLine("Parsing AWAC message:" + message);
int dollarIndex = message.IndexOf("$");
if (dollarIndex == -1)
{
return(null);
}
int crLfIndex = message.IndexOf("/r/n");
if (crLfIndex == -1)
{
message = message + Environment.NewLine;
}
if (nameDictionary.Count == 0)
{
InitDictionary();
}
int index = message.IndexOf("$PN");
if (index == -1)
{
return(null);
}
if (index > 0)
{
message = message.Substring(index);
}
NMEAProprietarySentence nmeaSentence = (NMEAParser.Parse(message)) as NMEAProprietarySentence;
return(ParseMsg(nmeaSentence));
}
catch (Exception ex)
{
ExceptionHandler.HandleException(ex, "Error while parsing NMEA message." + message);
return(null);
}
}
void PortOnDataReceived(object sender, SerialDataReceivedEventArgs serialDataReceivedEventArgs)
{
int bytesToRead = _port.BytesToRead;
var buffer = new byte[bytesToRead];
_port.Read(buffer, 0, bytesToRead);
var dataString = Encoding.ASCII.GetString(buffer);
_buffer.Append(dataString);
var temp = _buffer.ToString();
int lIndex = temp.LastIndexOf(NMEAParser.SentenceEndDelimiter, StringComparison.InvariantCulture);
if (lIndex >= 0)
{
_buffer = _buffer.Remove(0, lIndex + 2);
if (lIndex + 2 < temp.Length)
{
temp = temp.Remove(lIndex + 2);
}
temp = temp.Trim(_kTrimZeroChar);
var lines = temp.Split(new[] { NMEAParser.SentenceEndDelimiter }, StringSplitOptions.RemoveEmptyEntries)
.Select(x => x + NMEAParser.SentenceEndDelimiter);
foreach (var line in lines)
{
try
{
var result = NMEAParser.Parse(line);
ProcessNMEASentence(result);
}
catch
{
// TODO errors
}
}
}
if (_buffer.Length >= _port.ReadBufferSize * 2)
{
_buffer.Remove(0, _port.ReadBufferSize);
}
}
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)
{
if (IsLogIncoming)
{
LogEventHandler.Rise(this, new LogEventArgs(LogLineType.INFO, string.Format("{0} ({1}) >> {2}", PortName, PortDescription, e.Message)));
}
try
{
var _result = NMEAParser.Parse(e.Message);
ProcessIncoming(_result);
}
catch (Exception ex)
{
LogEventHandler.Rise(this, new LogEventArgs(LogLineType.ERROR, string.Format("{0} ({1}) >> {2} Caused error ({3})", PortName, PortDescription, e.Message, ex.Message)));
}
}
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 void Parse_ValidSatelliteData_ValidEntity()
{
string testData = "$GPGSV,3,2,12,04,32,058,44,,,,,,,,,,,,*71";
SatelliteEntity expectedEntity = new SatelliteEntity()
{
PRN = "04",
Elevation = 32,
Azimuth = 58,
SNR = 44
};
var entityList = NMEAParser.Parse(new List <string>(new string[] { testData })).Key.ToList();
SatelliteEntity entity = entityList[0];
Assert.AreEqual(expectedEntity.PRN, entity.PRN);
Assert.AreEqual(expectedEntity.Elevation, entity.Elevation);
Assert.AreEqual(expectedEntity.Azimuth, entity.Azimuth);
Assert.AreEqual(expectedEntity.SNR, entity.SNR);
}
public ActionResult Open(string fileName)
{
if (!String.IsNullOrEmpty(fileName))
{
var lines = FileHandler.Open(fileName);
var entityList = NMEAParser.Parse(lines);
NMEAModel model = new NMEAModel
{
UserCoordinatesList = entityList.Value.ToList(),
SatelliteList = GetSatelliteList(entityList.Key).ToList(),
};
return(Json(model));
}
return(Json(""));
}
private void port_MessageReceived(object sender, NewNMEAMessageEventArgs e)
{
NMEASentence sentence = null;
bool isParsed = false;
try
{
sentence = NMEAParser.Parse(e.Message);
isParsed = true;
}
catch (Exception ex)
{
/// TODO:
}
if (isParsed)
{
if (sentence is NMEAProprietarySentence)
{
var pSentence = (sentence as NMEAProprietarySentence);
if (pSentence.Manufacturer == ManufacturerCodes.MCP)
{
if (parsers.ContainsKey(pSentence.SentenceIDString))
{
parsers[pSentence.SentenceIDString](pSentence.parameters);
}
}
else
{
/// TODO: skip unsupported manufacturer
}
}
else
{
/// TODO: skip standard sentence
}
}
}
private void port_NewMessage(object sender, NewNMEAMessageEventArgs e)
{
try
{
var result = NMEAParser.Parse(e.Message);
if (result is NMEAStandartSentence)
{
var sResult = (result as NMEAStandartSentence);
if (cmdProcessor.ContainsKey(sResult.SentenceID))
{
cmdProcessor[sResult.SentenceID].Invoke(sResult.TalkerID, sResult.parameters);
}
}
}
catch (Exception ex)
{
if (LogEvent != null)
{
LogEvent(this, new LogEventArgs(LogLineType.ERROR, ex));
}
}
}
public void ParseGPGGAString()
{
string str = "$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47";
var parser = new NMEAParser();
var res = parser.Parse(str);
FixData data = (FixData)res;
Assert.AreEqual(new DateTime(DateTime.Now.Year, DateTime.Now.Month, DateTime.Now.Day, 12, 35, 19, 0), data.CurrentTime);
Assert.AreEqual(48, data.Latitude.Value.Degree);
Assert.AreEqual(7.038, data.Latitude.Value.Minutes);
Assert.AreEqual(LatitudeDegree.DirectionType.North, data.Latitude.Value.Direction);
Assert.AreEqual(11, data.Longitude.Value.Degree);
Assert.AreEqual(31, data.Longitude.Value.Minutes);
Assert.AreEqual(LongitudeDegree.DirectionType.East, data.Longitude.Value.Direction);
Assert.AreEqual(8, data.SateliteUsed);
Assert.AreEqual(0.9, data.HDOP);
Assert.AreEqual(545.4, data.MeanSeaLevel);
Assert.AreEqual(46.9, data.GeoidSeparation);
}
public void MNEAFormatTest()
{
Stopwatch stopWatch = new Stopwatch();
stopWatch.Start();
string message = "$PNORI,3,WAV6103,3,20,0.51,2.00,0*16" + Environment.NewLine;
var nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 1:" + stopWatch.ElapsedTicks);
var tmp = (NMEAProprietarySentence)nmeaSentence;
var talkerID = tmp.Manufacturer;
var sentenceIdentifiers = tmp.SentenceIDString;
stopWatch.Start();
message = "$PNORS,073010,050000,00,B0,13.4,1520.6,114.9,-0.5,1.6,22.314,18.92,1039,0*0B" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 2:" + stopWatch.ElapsedTicks);
stopWatch.Start();
message = "$PNORC,073010,050000,1,0.10,-0.11,-0.01,0.15,137.2,C,88,83,87,,,*37" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 3:" + stopWatch.ElapsedTicks);
stopWatch.Start();
message = "$PNORC,073010,050000,2,0.15,-0.16,-0.02,0.22,138.1,C,76,71,74,,,*3D" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 3:" + stopWatch.ElapsedTicks);
stopWatch.Start();
message = "$PNORW,073010,051001,3,4,0.55,0.51,0.63,0.82,2.76,3.33,2.97,55.06,78.91,337.62,0.48,22.35,0,1,0.27,129.11,0000*4E" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 3:" + stopWatch.ElapsedTicks);
stopWatch.Start();
message = "$PNORE,073010,051001,3,0.02,0.01,98,0.000,0.000,0.000,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.002,0.002,0.002,0.002,0.002,0.002,0.003,0.003,0.004,0.006,0.010,0.023,0.049,0.091,0.162,0.176,0.213,0.179,0.160,0.104,0.097,0.072,0.056,0.036,0.032,0.034,0.040,0.032,0.028,0.021,0.017,0.017,0.014,0.012,0.009,0.011,0.010,0.012,0.009,0.010,0.009,0.007,0.006,0.007,0.007,0.008,0.007,0.006,0.005,0.004,0.004,0.003,0.003,0.003,0.003,0.002,0.003,0.003,0.002,0.002,0.002,0.002,0.002,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001,0.001*7E" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 3:" + stopWatch.ElapsedTicks);
stopWatch.Start();
message = "$PNORB,073010,051001,3,4,0.02,0.20,0.06,7.06,5.00,262.39,80.27,23.39,0000*62" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 3:" + stopWatch.ElapsedTicks);
stopWatch.Start();
message = "$PNORB,073010,051001,3,4,0.21,0.49,0.52,3.06,3.33,57.06,78.91,24.66,0000*50" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 3:" + stopWatch.ElapsedTicks);
stopWatch.Start();
message = "$PNORF,A1,073010,051001,3,0.02,0.01,48,-0.0216,-0.0521,-0.0563,-0.0565,-0.0287,-0.0149,-0.0099,-0.0531,-0.0445,-0.0431,-0.0204,-0.0141,0.0697,0.0833,0.0540,0.0190,-0.0195,-0.0367,-0.0025,-0.0143,0.0318,-0.0307,-0.0051,0.0041,0.0440,0.0114,0.0831,0.0527,0.0284,0.0104,0.0040,0.0030,0.0049,-0.0005,0.0001,-0.0007,0.0018,0.0011,0.0012,0.0008,0.0029,0.0035,0.0021,-9.0000,-9.0000,-9.0000,-9.0000,-9.0000*0B" + Environment.NewLine;
nmeaSentence = NMEAParser.Parse(message);
stopWatch.Stop();
Debug.WriteLine("Time 3:" + stopWatch.ElapsedTicks);
}
private void ParseTrackFromFile(string fileName)
{
bool isOk = false;
List <string> lines = new List <string>();
try
{
lines.AddRange(File.ReadAllLines(fileName));
isOk = true;
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
if (isOk)
{
track.Clear();
foreach (var item in lines)
{
if (item.Contains("$PTNTC"))
{
int wspIdx = item.IndexOf(' ');
var timeStr = item.Substring(0, wspIdx);
var splits = timeStr.Split(":".ToCharArray(), StringSplitOptions.RemoveEmptyEntries);
int hrs = Convert.ToInt32(splits[0]);
int mins = Convert.ToInt32(splits[1]);
double secs = Convert.ToDouble(splits[2], CultureInfo.InvariantCulture);
secs += mins * 60 + hrs * 3600;
int sIdx = item.IndexOf("$PTNTC");
var subStr = item.Substring(sIdx);
if (!subStr.EndsWith("\r\n"))
{
subStr = subStr + "\r\n";
}
try
{
var pSentence = NMEAParser.Parse(subStr);
if (pSentence is NMEAProprietarySentence)
{
var ps = (pSentence as NMEAProprietarySentence);
if ((ps.Manufacturer == ManufacturerCodes.TNT) && (ps.SentenceIDString == "C"))
{
TrackRecord newRecord = new TrackRecord();
newRecord.Second = secs;
newRecord.Location = new GeoPoint3DE((double)ps.parameters[0],
(double)ps.parameters[1],
(double)ps.parameters[2],
(double)ps.parameters[3]);
newRecord.Buoy0Location = new GeoPoint((double)ps.parameters[4], (double)ps.parameters[5]);
newRecord.Buoy1Location = new GeoPoint((double)ps.parameters[6], (double)ps.parameters[7]);
newRecord.Buoy2Location = new GeoPoint((double)ps.parameters[8], (double)ps.parameters[9]);
newRecord.Buoy3Location = new GeoPoint((double)ps.parameters[10], (double)ps.parameters[11]);
if (newRecord.Location.RadialError <= settingsProvider.Data.RadialErrorThreshold)
{
track.Add(newRecord);
}
}
}
}
catch (Exception ex)
{
}
}
}
if (track.Count > 0)
{
saveTrackToolStripMenuItem_Click(this, new EventArgs());
}
}
}
private async void OnIncomingData(string data)
{
_buffer.Append(data);
var temp = _buffer.ToString();
var lIndex = temp.LastIndexOf(NMEAParser.SentenceEndDelimiter, StringComparison.Ordinal);
if (lIndex >= 0)
{
_buffer = _buffer.Remove(0, lIndex + 2);
if (lIndex + 2 < temp.Length)
{
temp = temp.Remove(lIndex + 2);
}
temp = temp.Trim('\0');
var lines = temp.Split(NMEAParser.SentenceEndDelimiter.ToCharArray(), StringSplitOptions.RemoveEmptyEntries);
if (DateTime.Now > _nextCheck)
{
foreach (var t in lines)
{
try
{
var result = NMEAParser.Parse(t + NMEAParser.SentenceEndDelimiter);
var sResult = result as NMEAStandartSentence;
if (sResult?.SentenceID == SentenceIdentifiers.GGA)
{
var parameters = sResult.parameters;
var gpsQualityIndicator = (string)parameters[5];
if (gpsQualityIndicator != "Fix not availible")
{
try
{
var lat = _doubleNullChecker(parameters[1]);
var northSouth = (string)(parameters[2] ?? string.Empty);
Debug.WriteLine("{0} {1} {2} {3}", parameters[1], parameters[2], parameters[3], parameters[4]);
lat = northSouth == "N" ? lat : -lat;
var lon = _doubleNullChecker(parameters[3]);
var eastWest = (string)(parameters[4] ?? string.Empty);
lon = eastWest == "E" ? lon : -lon;
Debug.WriteLine("Lat: {0} Long: {1}", lat, lon);
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
UpdatePosition(lat, lon);
});
}
catch (Exception)
{
// ignored
}
}
}
}
catch (Exception ex)
{
Debug.WriteLine(ex);
}
}
_nextCheck = DateTime.Now.AddSeconds(2);
}
}
if (_buffer.Length >= ushort.MaxValue)
{
_buffer.Remove(0, short.MaxValue);
}
}
private void DataReceivedEvent(object sender, SerialDataReceivedEventArgs e)
{
String inBuff;
if (port.IsOpen)
{
inBuff = port.ReadExisting();
if (inBuff != null)
{
if (inBuff.StartsWith("$"))
{
inString = inBuff;
}
else
{
inString += inBuff;
}
if ((inString.StartsWith("$GPRMC") || inString.StartsWith("$GPGGA")) && inString.EndsWith("\r\n"))
{
try
{
NMEASentence sentence = NMEAParser.Parse(inString);
String text = "";
foreach (Object obj in sentence.parameters)
{
String outString;
if (obj == null)
{
outString = "null";
}
else
{
outString = obj.ToString();
}
text += outString + System.Environment.NewLine;
}
if (inString.StartsWith("$GPGGA"))
{
if (sentence.parameters[5].Equals("Fix not availible"))
{
this.fix = false;
this.setValue(-1f);
}
else
{
this.fix = true;
}
}
else
{
if (fix)
{
float f;
float.TryParse(sentence.parameters[6].ToString(), out f);
//Convert to m/s
f = f * (463f / 900f);
//Convert to km/h
f = f * 3.6f;
this.setValue(f);
this.status = SensorStatus.CONNECTED;
}
}
}
catch (ArgumentException aex)
{
Console.WriteLine(inString, aex);
}
}
}
}
}
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 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 string SentenceNMEA2GPX(List <String> sentences)
{
List <String> sb = new List <String>();
int lastchecked = 0; //for speed-up lookup for already updated records
sb.Add("<gpx>\n<trk>\n");
sb.Add(String.Format("<name>{0}</name>\n", "Something what can be changed easily"));
sb.Add("<trkseg>\n");
foreach (string textsentence in sentences)
{
var parsedSentence = NMEAParser.Parse(textsentence);
if (parsedSentence is NMEAStandartSentence)
{
NMEAStandartSentence sentence = (parsedSentence as NMEAStandartSentence);
if (sentence.TalkerID == TalkerIdentifiers.GP) //generic GPS
{
if (sentence.SentenceID == SentenceIdentifiers.GGA)
{
//http://www.gpsinformation.org/dale/nmea.htm#GGA
//parsing in library is not precise, but easy
//sb.Add(String.Format(" <trkpt lat=\"{0}\" lon=\"{1}\">\n", string.Format("{0}", sentence.parameters[1]), string.Format("{0}", sentence.parameters[3])));
//extra parsing for lon, lat, speed
string[] parsed = textsentence.Split(',');
string lat = String.Format("{0}", Convert.ToInt32(parsed[2].Substring(0, 2)) + ((parsed[3] == "N") ? Convert.ToDouble(parsed[2].Substring(2)) / 60 : Convert.ToDouble(parsed[2].Substring(2)) / -60)).ToString();
string lon = String.Format("{0}", Convert.ToInt32(parsed[4].Substring(0, 3)) + ((parsed[5] == "E") ? Convert.ToDouble(parsed[4].Substring(3)) / 60 : Convert.ToDouble(parsed[2].Substring(4)) / -60)).ToString();
sb.Add(String.Format("<trkpt lat=\"{0}\" lon=\"{1}\">\n", string.Format("{0}", lat), string.Format("{0}", lon)));
sb.Add(String.Format(" <ele>{0}</ele>\n", sentence.parameters[8])); //elevation
sb.Add(String.Format(" <time>{0}</time>\n", (global.Keys.Contains("time") && global.Keys.Contains("date")) ? String.Format("{0}T{1}Z", global["date"], global["time"]) : "")); //inserted in case that global record is provided otherwise updated later //chyba formátu
sb.Add(String.Format(" <course>{0}</course>\n", global.Keys.Contains("course") ? global["course"] : ""));
sb.Add(String.Format(" <speed>{0}</speed>\n", global.Keys.Contains("speed") ? global["speed"] : ""));
sb.Add(String.Format(" <sat>{0}</sat>\n", sentence.parameters[6]));
sb.Add(String.Format(" <hdop>{0}</hdop>\n", sentence.parameters[7]));
sb.Add("</trkpt>\n");
}
if (sentence.SentenceID == SentenceIdentifiers.RMC) //control sentence
{
//http://www.gpsinformation.org/dale/nmea.htm#RMC
//sets global variables for post-update
string[] dates = sentence.parameters[8].ToString().Split(new char[] { ' ' });
string date = dates[0];
string year = date.Split(new char[] { '/' })[2]; //EN settings above!
string month = date.Split(new char[] { '/' })[1];
string day = date.Split(new char[] { '/' })[0];
string[] times = sentence.parameters[0].ToString().Split(new char[] { ' ' });
string time = times[1];
//update if new RMC
global["date"] = String.Format("{0}-{1}-{2}", year, month, day);
global["time"] = time; //update
global["course"] = sentence.parameters[7].ToString();
global["speed"] = Convert.ToString(Convert.ToDouble(sentence.parameters[6]) * 0.514); //convert value
for (int i = lastchecked; i < sb.Count; i++) //post-update
{
if (sb[i].Equals(" <time></time>\n"))
{
sb[i] = String.Format(" <time>{0}T{1}Z</time>\n", global["date"], global["time"]); //if missing generally then actual
}
else if (sb[i].Equals(" <course></course>\n"))
{
sb[i] = String.Format(" <course>{0}</course>\n", global["course"]);
}
else if (sb[i].Equals(" <speed></speed>\n"))
{
sb[i] = String.Format(" <speed>{0}</speed>\n", global["speed"]);
}
}
lastchecked = sb.Count;
}
}
}
}
sb.Add("</trkseg>\n");
sb.Add("</trk>\n</gpx>\n");
return(String.Join("", sb.ToArray()));
}
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));
}
}
}
}
}
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));
}
}
}
