/// <summary> /// Initializes a new instance of the <see cref="Rmc"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Rmc(string type, string[] message) : base(type, message) { if (message == null || message.Length < 11) { throw new ArgumentException("Invalid GPRMC", "message"); } if (message[8].Length == 6 && message[0].Length >= 6) { FixTime = new DateTime(int.Parse(message[8].Substring(4, 2), CultureInfo.InvariantCulture) + 2000, int.Parse(message[8].Substring(2, 2), CultureInfo.InvariantCulture), int.Parse(message[8].Substring(0, 2), CultureInfo.InvariantCulture), int.Parse(message[0].Substring(0, 2), CultureInfo.InvariantCulture), int.Parse(message[0].Substring(2, 2), CultureInfo.InvariantCulture), 0, DateTimeKind.Utc).AddSeconds(double.Parse(message[0].Substring(4), CultureInfo.InvariantCulture)); } Active = (message[1] == "A"); Latitude = NmeaMessage.StringToLatitude(message[2], message[3]); Longitude = NmeaMessage.StringToLongitude(message[4], message[5]); Speed = NmeaMessage.StringToDouble(message[6]); Course = NmeaMessage.StringToDouble(message[7]); MagneticVariation = NmeaMessage.StringToDouble(message[9]); if (!double.IsNaN(MagneticVariation) && message[10] == "W") { MagneticVariation *= -1; } }
/// <summary> /// Initializes a new instance of the <see cref="Rmb"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Rmb(string type, string[] message) : base(type, message) { if (message == null || message.Length < 13) { throw new ArgumentException("Invalid GPRMB", "message"); } Status = message[0] == "A" ? DataStatus.Ok : Rmb.DataStatus.Warning; double tmp; if (double.TryParse(message[1], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { CrossTrackError = tmp; if (message[2] == "L") //Steer left { CrossTrackError *= -1; } } else { CrossTrackError = double.NaN; } if (message[3].Length > 0) { OriginWaypointId = int.Parse(message[3], CultureInfo.InvariantCulture); } if (message[3].Length > 0) { DestinationWaypointId = int.Parse(message[4], CultureInfo.InvariantCulture); } DestinationLatitude = NmeaMessage.StringToLatitude(message[5], message[6]); DestinationLongitude = NmeaMessage.StringToLongitude(message[7], message[8]); if (double.TryParse(message[9], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { RangeToDestination = tmp; } else { RangeToDestination = double.NaN; } if (double.TryParse(message[10], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { TrueBearing = tmp; } else { TrueBearing = double.NaN; } if (double.TryParse(message[11], NumberStyles.Float, CultureInfo.InvariantCulture, out tmp)) { Velocity = tmp; } else { Velocity = double.NaN; } Arrived = message[12] == "A"; }
/// <summary> /// Initializes a new instance of the <see cref="Gns"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Gns(string type, string[] message) : base(type, message) { if (message == null || message.Length < 12) { throw new ArgumentException("Invalid GNS", "message"); } FixTime = StringToTimeSpan(message[0]); Latitude = NmeaMessage.StringToLatitude(message[1], message[2]); Longitude = NmeaMessage.StringToLongitude(message[3], message[4]); if (message[5].Length > 0) { GpsModeIndicator = ParseModeIndicator(message[5][0]); } if (message[5].Length > 1) { GlonassModeIndicator = ParseModeIndicator(message[5][1]); } if (message[5].Length > 2) { FutureModeIndicator = message[5].Skip(2).Select(t => ParseModeIndicator(t)).ToArray(); } else { FutureModeIndicator = new Mode[] { } }; NumberOfSatellites = int.Parse(message[6], CultureInfo.InvariantCulture); Hdop = NmeaMessage.StringToDouble(message[7]); OrhometricHeight = NmeaMessage.StringToDouble(message[8]); GeoidalSeparation = NmeaMessage.StringToDouble(message[9]); var timeInSeconds = StringToDouble(message[10]); if (!double.IsNaN(timeInSeconds)) { TimeSinceLastDgpsUpdate = TimeSpan.FromSeconds(timeInSeconds); } else { TimeSinceLastDgpsUpdate = TimeSpan.MaxValue; } if (message[11].Length > 0) { DgpsStationId = message[11]; } if (message.Length > 12) { switch (message[12]) { case "S": Status = NavigationalStatus.Safe; break; case "C": Status = NavigationalStatus.Caution; break; case "U": Status = NavigationalStatus.Unsafe; break; case "V": default: Status = NavigationalStatus.NotValid; break; } } }
/// <summary> /// Initializes a new instance of the <see cref="Vtg"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Vtg(string type, string[] message) : base(type, message) { if (message == null || message.Length < 7) { throw new ArgumentException("Invalid Gpvtg", "message"); } TrueCourseOverGround = NmeaMessage.StringToDouble(message[0]); MagneticCourseOverGround = NmeaMessage.StringToDouble(message[2]); SpeedInKnots = NmeaMessage.StringToDouble(message[4]); SpeedInKph = NmeaMessage.StringToDouble(message[6]); }
/// <summary> /// Initializes a new instance of the <see cref="Gst"/> class. /// </summary> /// <param name="type">The message type</param> /// <param name="message">The NMEA message values.</param> public Gst(string type, string[] message) : base(type, message) { if (message == null || message.Length < 8) { throw new ArgumentException("Invalid GPGST", "message"); } FixTime = StringToTimeSpan(message[0]); Rms = NmeaMessage.StringToDouble(message[1]); SemiMajorError = NmeaMessage.StringToDouble(message[2]); SemiMinorError = NmeaMessage.StringToDouble(message[3]); ErrorOrientation = NmeaMessage.StringToDouble(message[4]); SigmaLatitudeError = NmeaMessage.StringToDouble(message[5]); SigmaLongitudeError = NmeaMessage.StringToDouble(message[6]); SigmaHeightError = NmeaMessage.StringToDouble(message[7]); }
private void OnMessageReceived(Nmea.NmeaMessage msg) { if (msg == null) { return; } Nmea.NmeaMessage[] messageParts = null; if (msg is IMultiPartMessage multi) { string messageType = msg.MessageType.Substring(2); //We don't care about the two first characters. Ie GPGSV, GLGSV, GAGSV etc are all part of the same multi-part message if (MultiPartMessageCache.ContainsKey(messageType)) { var dic = MultiPartMessageCache[messageType]; if (dic.ContainsKey(multi.MessageNumber - 1) && !dic.ContainsKey(multi.MessageNumber)) { dic[multi.MessageNumber] = msg; } else //Something is out of order. Clear cache { MultiPartMessageCache.Remove(messageType); } } else if (multi.MessageNumber == 1) { MultiPartMessageCache[messageType] = new Dictionary <int, Nmea.NmeaMessage>(multi.TotalMessages); MultiPartMessageCache[messageType][1] = msg; } if (MultiPartMessageCache.ContainsKey(messageType)) { var dic = MultiPartMessageCache[messageType]; if (dic.Count == multi.TotalMessages) //We have a full list { MultiPartMessageCache.Remove(messageType); messageParts = dic.Values.ToArray(); } } } MessageReceived?.Invoke(this, new NmeaMessageReceivedEventArgs(msg, messageParts)); }
internal NmeaMessageReceivedEventArgs(Nmea.NmeaMessage message, IReadOnlyList <Nmea.NmeaMessage> messageParts) { Message = message; MessageParts = messageParts; }