/// <summary>
/// 对帧缓冲进行处理
/// </summary>
/// <param name="frame">帧缓冲</param>
/// <param name="index">帧的索引号</param>
private void SelfDeal(Gps_NmeaFrame frame, int type)
{
string content_frame = frame.GetFrame();
// 添加信息到队列中
mCustomDataModel.Rev_Msg_Queue.Enqueue(content_frame);
if (frame.TalkerId == "GP")
{
mCustomDataModel.Gps_Receiver_State[CustomDataModel.GPS_REV_STATE_GP_AVAILABLE] = true;
}
else if (frame.TalkerId == "BD")
{
mCustomDataModel.Gps_Receiver_State[CustomDataModel.GPS_REV_STATE_GB_AVAILABLE] = true;
}
else if (frame.TalkerId == "GN")
{
mCustomDataModel.Gps_Receiver_State[CustomDataModel.GPS_REV_STATE_GP_AVAILABLE] = true;
mCustomDataModel.Gps_Receiver_State[CustomDataModel.GPS_REV_STATE_GB_AVAILABLE] = true;
}
// 将结果组
try
{
// 根据结果进行赋值
switch (type)
{
case NMEA_FRAME_TYPE_GGA:
// GGA帧处理
#region
mCustomDataModel.Gps_Receiver_State[CustomDataModel.GPS_REV_STATE_GGA_AVAILABLE] = true;
// utc
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_UTC_TIME].Info = frame.DataSrc[NMEA_FRAME_GGA_POS_TIME];
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_UTC_TIME].IsUpdate = true;
// 纬度
string str_lat = frame.DataSrc[NMEA_FRAME_GGA_POS_LAT];
if (str_lat.Length > 5)
{
try
{
double val = Convert.ToDouble(str_lat.Substring(0, 2)) + Convert.ToDouble(str_lat.Substring(2, (str_lat.Length - 2))) / 60.0;
LattitudeDataArr.AddData(val);
}
catch
{ }
str_lat = str_lat.Insert(2, "°");
str_lat += "'";
}
// 存储纬度
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_LATITUDE].Info = str_lat;
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_LATITUDE].IsUpdate = true;
// 存储纬度std
mCustomDataModel.DataBaseList[CustomDataModel.STR_LATITUDE_STD].Info = LattitudeDataArr.GetStdVal().ToString("#.##E+00") + "°";
mCustomDataModel.DataBaseList[CustomDataModel.STR_LATITUDE_STD].IsUpdate = true;
// 经度
string str_long = frame.DataSrc[NMEA_FRAME_GGA_POS_LONG];
if (str_long.Length > 5)
{
try
{
double val = Convert.ToDouble(str_long.Substring(0, 3)) + Convert.ToDouble(str_long.Substring(3, (str_long.Length - 3))) / 60.0;
LongtitudeDataArr.AddData(val);
}
catch
{ }
str_long = str_long.Insert(3, "°");
str_long += "'";
}
// 存储经度
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_LONGTITUDE].Info = str_long;
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_LONGTITUDE].IsUpdate = true;
// 存储经度std
mCustomDataModel.DataBaseList[CustomDataModel.STR_LONGTITUDE_STD].Info = LongtitudeDataArr.GetStdVal().ToString("#.##E+00") + "°";
mCustomDataModel.DataBaseList[CustomDataModel.STR_LONGTITUDE_STD].IsUpdate = true;
// 高度
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_ALTITUDE].Info = frame.DataSrc[NMEA_FRAME_GGA_POS_ALT];
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_ALTITUDE].IsUpdate = true;
// 椭球高度
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_ELLIPSOIDAL_HEIGHT].Info = frame.DataSrc[NMEA_FRAME_GGA_POS_SEP];
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_ELLIPSOIDAL_HEIGHT].IsUpdate = true;
// 卫星数量
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_SATELLITE_NUM].Info = frame.DataSrc[NMEA_FRAME_GGA_POS_NUMSV];
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_SATELLITE_NUM].IsUpdate = true;
// 定位精度
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_POSITION_ACC].Info = frame.DataSrc[NMEA_FRAME_GGA_POS_HDOP];
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_POSITION_ACC].IsUpdate = true;
// 定位状态
mCustomDataModel.DataBaseList[CustomDataModel.POS_STATE].Info = frame.DataSrc[NMEA_FRAME_GGA_POS_QUALITY];
mCustomDataModel.DataBaseList[CustomDataModel.POS_STATE].IsUpdate = true;
break;
#endregion
case NMEA_FRAME_TYPE_RMC:
mCustomDataModel.Gps_Receiver_State[CustomDataModel.GPS_REV_STATE_RMC_AVAILABLE] = true;
break;
case NMEA_FRAME_TYPE_GSV:
mCustomDataModel.Gps_Receiver_State[CustomDataModel.GPS_REV_STATE_GSV_AVAILABLE] = true;
// GSV帧处理函数
#region
// 预估当前帧中的卫星个数
int NumSatelite = frame.DataSrc.Count - NMEA_FRAME_GSV_POS_SATELLITE_SV;
// 获取卫星数量
int numsv = Convert.ToInt32(frame.DataSrc[NMEA_FRAME_GSV_POS_NUMSV]);
// 如果卫星数为0,则直接返回
if (numsv == 0)
{
break;
}
// 判断帧是否正确，不正确直接跳出
if (NumSatelite % NMEA_FRAME_GSV_SATALITES_INFO_LEN != 0)
{
// 该处对NMEA4.1极其以上做出兼容，末尾端有一个字符
if ((NumSatelite - NMEA_FRAME_GSV_SIGNAL_ID_LEN) % NMEA_FRAME_GSV_SATALITES_INFO_LEN != 0)
{
break;
}
}
// 计算卫星个数
NumSatelite /= NMEA_FRAME_GSV_SATALITES_INFO_LEN;
// 帧头字符串
string headlabel = "";
// 如果为北斗卫星
if (frame.TalkerId.Equals(NMEA_FRAME_TALKERID_BD))
{
// 生成标签
headlabel = "B";
} // 否则为GPS卫星
else
{
headlabel = "G";
}
for (int i = 0; i < NumSatelite; i++)
{
// 清空字符串
string label = "";
// 生成label
label = headlabel + frame.DataSrc[NMEA_FRAME_GSV_POS_SATELLITE_SV + i * NMEA_FRAME_GSV_SATALITES_INFO_LEN];
// 生成值
double val = 0.0;
double elv = 0.0;
double azi = 0.0;
// 将内容转换出来
try
{
val = Convert.ToDouble(frame.DataSrc[NMEA_FRAME_GSV_POS_SATELLITE_CNO + i * NMEA_FRAME_GSV_SATALITES_INFO_LEN]);
}
catch
{
val = 0.0;
}
try
{
elv = Convert.ToDouble(frame.DataSrc[NMEA_FRAME_GSV_POS_SATELLITE_ELV + i * NMEA_FRAME_GSV_SATALITES_INFO_LEN]);
}
catch
{
elv = CustomDataModel.GPS_SAT_ANG_INVALID;
}
try
{
azi = Convert.ToDouble(frame.DataSrc[NMEA_FRAME_GSV_POS_SATELLITE_AZ + i * NMEA_FRAME_GSV_SATALITES_INFO_LEN]);
}
catch
{
azi = CustomDataModel.GPS_SAT_ANG_INVALID;
}
// 生成一个对象
SateLiteInfoItem item = new SateLiteInfoItem(label, val, NMEA_FRAME_GSV_SIGNAL_STRENGTH_MAX, azi, elv);
// 添加数据到链表中
mCustomDataModel.SateLiteStrengthData_Add_Intelligence(item);
}
break;
#endregion
case NMEA_FRAME_TYPE_GAS:
mCustomDataModel.Gps_Receiver_State[CustomDataModel.GPS_REV_STATE_GAS_AVAILABLE] = true;
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_GAS_COORDINATION_X].Info = frame.DataSrc[NMEA_FRAME_GAS_X_COODINATION];
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_GAS_COORDINAIION_Y].Info = frame.DataSrc[NMEA_FRAME_GAS_Y_COODINATION];
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_PDOP].Info = frame.DataSrc[NMEA_FRAME_GAS_PDOP];
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_GAS_COORDINATION_X].IsUpdate = true;
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_GAS_COORDINAIION_Y].IsUpdate = true;
mCustomDataModel.DataBaseList[CustomDataModel.LABEL_PDOP].IsUpdate = true;
break;
case NMEA_FRAME_TYPE_GSA:
// PDOP
//mCustomDataModel.DataBaseList[CustomDataModel.LABEL_PDOP].Info = frame.DataSrc[NMEA_FRAME_GSA_POS_PDOP];
//mCustomDataModel.DataBaseList[CustomDataModel.LABEL_PDOP].IsUpdate = true;
break;
case NMEA_FRAME_TYPE_HPD:
mCustomDataModel.Gps_Receiver_State[CustomDataModel.GPS_REV_STATE_HPD_AVAILABLE] = true;
break;
default: break;
}
}
catch (Exception exp)
{
Console.Write(exp.ToString());
return;
}
}
/// <summary>
/// 初始化解析状态机，初始化每个动作所执行的操作
/// </summary>
private void NmeaParseMoniterInit()
{
// 初始化状态机
ParseMoniter = new Dictionary <NmeaFrame_ParseState, Action <byte> >();
Current_State = NmeaFrame_ParseState.Null_State;
//帧头状态
ParseMoniter[NmeaFrame_ParseState.Head_State] = (byte data) =>
{
// 计算crc
Current_Crc ^= data;
// 如果获得分隔符
if (data == Gps_NmeaFrame.NMEA_FRAME_SEPARATE_BYTE)
{
string talkerid;
string contentid;
// 如果分析成功
if (Gps_NmeaFrame.GetHeadInfo(mStrBuffer, out talkerid, out contentid) == true)
{
// 清除缓冲
mStrBuffer = "";
// 清除计数器
ParseMoniterCnt = 0;
// 根据帧类型保存帧类型状态
if (contentid.Equals(NMEA_FRAME_CONTENTID_GGA))
{
mTmpFrameType = NMEA_FRAME_TYPE_GGA;
}
else if (contentid.Equals(NMEA_FRAME_CONTENTID_RMC))
{
mTmpFrameType = NMEA_FRAME_TYPE_RMC;
}
else if (contentid.Equals(NMEA_FRAME_CONTENTID_GSV))
{
mTmpFrameType = NMEA_FRAME_TYPE_GSV;
}
else if (contentid.Equals(NMEA_FRAME_CONTENTID_GAS))
{
mTmpFrameType = NMEA_FRAME_TYPE_GAS;
}
else if (contentid.Equals(NMEA_FRAME_CONTENTID_GSA))
{
mTmpFrameType = NMEA_FRAME_TYPE_GSA;
}
else if (contentid.Equals(NMEA_FRAME_CONTENTID_HPD))
{
mTmpFrameType = NMEA_FRAME_TYPE_HPD;
}
else
{
Current_State = NmeaFrame_ParseState.Null_State;
return;
}
// 清除缓冲数组
mGpsMsgBuff[mTmpFrameType].Clear();
// 添加帧头到头部
mGpsMsgBuff[mTmpFrameType].AddHead(talkerid, contentid);
// 切换到下一个状态
Current_State = NmeaFrame_ParseState.Data_State;
} // 分析出错
else
{ // 复位状态机
Current_State = NmeaFrame_ParseState.Null_State;
}
} // 如果没有获得分隔符
else
{
// 添加数据到临时缓冲
mStrBuffer += (char)data;
}
// 如果索引值超出限制，直接恢复状态机
if (ParseMoniterCnt++ > (Gps_NmeaFrame.NMEA_FRAME_HEAD_LEN - 1))
{
Current_State = NmeaFrame_ParseState.Null_State;
}
};
//帧数据状态
ParseMoniter[NmeaFrame_ParseState.Data_State] = (byte data) =>
{
// 是否获取到了校验位指示符
if (data == Gps_NmeaFrame.NMEA_FRAME_CRC_IDENTIFIER_BYTE)
{
// 添加到缓冲区
mGpsMsgBuff[mTmpFrameType].AddData(mStrBuffer);
// 清除缓冲
mStrBuffer = "";
// 清除计数器
ParseMoniterCnt = 0;
// 跳转到CrcState
Current_State = NmeaFrame_ParseState.Crc_State;
}
else
{
// 计算校验
Current_Crc ^= data;
// 是否为分隔符
if (data == Gps_NmeaFrame.NMEA_FRAME_SEPARATE_BYTE)
{
// 添加到缓冲区
mGpsMsgBuff[mTmpFrameType].AddData(mStrBuffer);
// 清楚缓冲区
mStrBuffer = "";
}
else
{
// 添加字符到缓冲
mStrBuffer += (char)data;
}
}
// 如果超出限制，直接复位状态机
if (ParseMoniterCnt++ > Gps_NmeaFrame.NMEA_FRAME_DATA_LEN_MAX)
{
Current_State = NmeaFrame_ParseState.Null_State;
}
};
// 帧校验状态
ParseMoniter[NmeaFrame_ParseState.Crc_State] = (byte data) =>
{
// 如果接收到了第一个结束字符
if (data == Gps_NmeaFrame.NMEA_FRAME_END_IDENTIFIER1_BYTE)
{
byte crc;
// 获取crc
crc = Convert.ToByte(mStrBuffer, 16);
if (crc == Current_Crc)
{
mGpsMsgBuff[mTmpFrameType].AddCrc(mStrBuffer);
Current_State = NmeaFrame_ParseState.End_State;
return;
}
}
else
{
mStrBuffer += (char)data;
}
// 如果超出限制，复位状态机
if (ParseMoniterCnt++ > Gps_NmeaFrame.NMEA_FRAME_DATA_CRC_LEN)
{
Current_State = NmeaFrame_ParseState.Null_State;
}
};
// 帧结束状态
ParseMoniter[NmeaFrame_ParseState.End_State] = (byte data) =>
{
// 如果接收到第二个字符
if (data == Gps_NmeaFrame.NMEA_FRAME_END_IDENTIFIER2_BYTE)
{
// 处理当前帧
SelfDeal(mGpsMsgBuff[mTmpFrameType], mTmpFrameType);
// 此处需要清除帧缓冲
mGpsMsgBuff[mTmpFrameType].Clear();
}
Current_State = NmeaFrame_ParseState.Null_State;
};
}
