/// <summary>
/// Extracts a full NMEA string from the data recieved on the serialport, and parses this.
/// The remaining and unparsed NMEA string is returned.
/// </summary>
/// <param name="strNMEA">NMEA ASCII data</param>
/// <returns>Unparsed NMEA data</returns>
private string GetNmeaString(string strNMEA)
{
strNMEA = strNMEA.Replace("\n", "").Replace("\r", ""); //Remove linefeeds
int nStart = strNMEA.IndexOf("$"); //Position of first NMEA data
if (nStart < 0 || nStart == strNMEA.Length - 2)
{
return(strNMEA);
}
//This will never pass the last NMEA sentence, before the next one arrives
//The following should instead stop at the end of the line.
int nStop = strNMEA.IndexOf("$", nStart + 1); //Position of next NMEA sentence
if (nStop > -1)
{
string strData;
strData = strNMEA.Substring(nStart, nStop - nStart).Trim();
if (strData.StartsWith("$"))
{
HasTimedOut = false;
TimeSinceLastEvent = DateTime.Now.Ticks;
if (CheckSentence(strData))
{
FireEvent(GPSHandler.String2Eventtype(strData), strData);
}
}
return(strNMEA.Substring(nStop));
}
else
{
return(strNMEA);
}
}
public MainForm()
{
InitializeComponent();
GPS = new GPSHandler(this); //Initialize GPS handler
GPS.TimeOut = 5; //Set timeout to 5 seconds
GPS.NewGPSFix += new GPSHandler.NewGPSFixHandler(this.GPSEventHandler); //Hook up GPS data events to a handler
frmGpsSettings = new FrmGpsSettings();
frmNtripSettings = new FrmNTRIPSettings();
ntrip = null;
ntripStarted = false;
Coms = new List<SerialPort>();
}
public void Emulator()
{
file = new System.IO.StreamReader(GPSHandler._NMEAInputFile);
while (file != null)
{
if (file.EndOfStream)
{
//Start from beginning of file
file.Close();
file = new System.IO.StreamReader(GPSHandler._NMEAInputFile);
}
string line = file.ReadLine();
SharpGps.SerialPort.GPSEventArgs e = new SharpGps.SerialPort.GPSEventArgs();
e.TypeOfEvent = GPSHandler.String2Eventtype(line);
e.Sentence = line;
NewGPSData(this, e);
System.Threading.Thread.Sleep(50);
}
}
private int urate = 1000; // Updaterate for all Params
#endregion Fields
#region Constructors
public GpsDevice(HierachyItem owner)
{
GPS = new GPSHandler(); //Initialize GPS handler
GPS.TimeOut = 5; //Set timeout to 5 seconds
GPS.NewGPSFix += new GPSHandler.NewGPSFixHandler(this.GPSEventHandler); //Hook up GPS data events to a handle
values = new MonitoredDictionary<string, UAVSingleParameter>(owner);
if (!values.ContainsKey("lbRMCPosition")) values.Add(new UAVParameter("lbRMCPosition", GPS.GPRMC.Position, null,null, urate));
if (!values.ContainsKey("lbRMCPositionLongitude")) values.Add(new UAVParameter("lbRMCPositionLongitude", 0, null,null, urate));
if (!values.ContainsKey("lbRMCPositionLatitude")) values.Add(new UAVParameter("lbRMCPositionLatitude", 0, null,null, urate));
if (!values.ContainsKey("lbRMCPositionUTM")) values.Add(new UAVParameter("lbRMCPositionUTM", 0, null,null, urate));
if (!values.ContainsKey("lbRMCCourse")) values.Add(new UAVParameter("lbRMCCourse", 0, null,null, urate));
if (!values.ContainsKey("lbRMCSpeed")) values.Add(new UAVParameter("lbRMCSpeed", 0, null,null, urate));
if (!values.ContainsKey("lbRMCTimeOfFix")) values.Add(new UAVParameter("lbRMCTimeOfFix", 0, null,null, urate));
if (!values.ContainsKey("lbRMCMagneticVariation")) values.Add(new UAVParameter("lbRMCMagneticVariation", 0, null,null, urate));
if (!values.ContainsKey("lbGGAPosition")) values.Add(new UAVParameter("lbGGAPosition", 0, null,null, urate));
if (!values.ContainsKey("lbGGATimeOfFix")) values.Add(new UAVParameter("lbGGATimeOfFix", 0, null,null, urate));
if (!values.ContainsKey("lbGGAFixQuality")) values.Add(new UAVParameter("lbGGAFixQuality", 0, null,null, urate));
if (!values.ContainsKey("lbGGANoOfSats")) values.Add(new UAVParameter("lbGGANoOfSats", 0, null,null, urate));
if (!values.ContainsKey("lbGGAAltitude")) values.Add(new UAVParameter("lbGGAAltitude", 0, null,null, urate));
if (!values.ContainsKey("lbGGAAltitudeUnit")) values.Add(new UAVParameter("lbGGAAltitudeUnit", 0, null,null, urate));
if (!values.ContainsKey("lbGGAHDOP")) values.Add(new UAVParameter("lbGGAHDOP", 0, null,null, urate));
if (!values.ContainsKey("lbGGAGeoidHeight")) values.Add(new UAVParameter("lbGGAGeoidHeight", 0, null,null, urate));
if (!values.ContainsKey("lbGGADGPSupdate")) values.Add(new UAVParameter("lbGGADGPSupdate", 0, null,null, urate));
if (!values.ContainsKey("lbGGADGPSID")) values.Add(new UAVParameter("lbGGADGPSID", 0, null,null, urate));
if (!values.ContainsKey("lbGLLPosition")) values.Add(new UAVParameter("lbGLLPosition", 0, null,null, urate));
if (!values.ContainsKey("lbGLLTimeOfSolution")) values.Add(new UAVParameter("lbGLLTimeOfSolution", 0, null,null, urate));
if (!values.ContainsKey("lbGLLDataValid")) values.Add(new UAVParameter("lbGLLDataValid", 0, null,null, urate));
if (!values.ContainsKey("lbGSAMode")) values.Add(new UAVParameter("lbGSAMode", 0, null,null, urate));
if (!values.ContainsKey("lbGLLPosition")) values.Add(new UAVParameter("lbGLLPosition", 0,null,null, urate));
if (!values.ContainsKey("lbGSAFixMode")) values.Add(new UAVParameter("lbGSAFixMode", 0, null,null, urate));
if (!values.ContainsKey("lbGSAPRNs")) values.Add(new UAVParameter("lbGSAPRNs", 0, null,null, urate));
if (!values.ContainsKey("lbGSAPDOP")) values.Add(new UAVParameter("lbGSAPDOP", 0, null,null, urate));
if (!values.ContainsKey("lbGSAHDOP")) values.Add(new UAVParameter("lbGSAHDOP", 0, null,null, urate));
if (!values.ContainsKey("lbGSAVDOP")) values.Add(new UAVParameter("lbGSAVDOP", 0, null,null, urate));
if (!values.ContainsKey("lbRMEHorError")) values.Add(new UAVParameter("lbRMEHorError", 0, null,null, urate));
if (!values.ContainsKey("lbRMEVerError")) values.Add(new UAVParameter("lbRMEVerError", 0, null,null, urate));
if (!values.ContainsKey("lbRMESphericalError")) values.Add(new UAVParameter("lbRMESphericalError", 0, null,null, urate));
if (!values.ContainsKey("lbRMEVerError")) values.Add(new UAVParameter("lbRMEVerError", 0, null,null, urate));
if (!values.ContainsKey("lbRMEVerError")) values.Add(new UAVParameter("lbRMEVerError", 0, null,null, urate));
}
/// <summary>
/// Responds to sentence events from GPS receiver
/// </summary>
private void GPSEventHandler(object sender, GPSHandler.GPSEventArgs e)
{
tbRawLog.Text += e.Sentence + "\r\n";
if (tbRawLog.Text.Length > 20 * 1024 * 1024) //20Kb maximum - prevents crash
{
tbRawLog.Text = tbRawLog.Text.Substring(10 * 1024 * 1024);
}
tbRawLog.ScrollToCaret(); //Scroll to bottom
switch (e.TypeOfEvent)
{
case GPSEventType.GPRMC: //Recommended minimum specific GPS/Transit data
if (GPS.HasGPSFix) //Is a GPS fix available?
{
//lbRMCPosition.Text = GPS.GPRMC.Position.ToString("#.000000");
lbRMCPosition.Text = GPS.GPRMC.Position.ToString("DMS");
double[] utmpos = TransformToUTM(GPS.GPRMC.Position);
lbRMCPositionUTM.Text = utmpos[0].ToString("#.0N ") + utmpos[0].ToString("#.0E") + " (Zone: " + utmpos[2] + ")";
lbRMCCourse.Text = GPS.GPRMC.Course.ToString();
lbRMCSpeed.Text = GPS.GPRMC.Speed.ToString() + " mph";
lbRMCTimeOfFix.Text = GPS.GPRMC.TimeOfFix.ToString("F");
lbRMCMagneticVariation.Text = GPS.GPRMC.MagneticVariation.ToString();
}
else
{
statusBar1.Text = "No fix";
lbRMCCourse.Text = "N/A";
lbRMCSpeed.Text = "N/A";
lbRMCTimeOfFix.Text = GPS.GPRMC.TimeOfFix.ToString();
}
break;
case GPSEventType.GPGGA: //Global Positioning System Fix Data
if (GPS.GPGGA.Position != null)
lbGGAPosition.Text = GPS.GPGGA.Position.ToString("DM");
else
lbGGAPosition.Text = "";
lbGGATimeOfFix.Text = GPS.GPGGA.TimeOfFix.Hour.ToString() + ":" + GPS.GPGGA.TimeOfFix.Minute.ToString() + ":" + GPS.GPGGA.TimeOfFix.Second.ToString();
lbGGAFixQuality.Text = GPS.GPGGA.FixQuality.ToString();
lbGGANoOfSats.Text = GPS.GPGGA.NoOfSats.ToString();
lbGGAAltitude.Text = GPS.GPGGA.Altitude.ToString() + " " + GPS.GPGGA.AltitudeUnits;
lbGGAHDOP.Text = GPS.GPGGA.Dilution.ToString();
lbGGAGeoidHeight.Text = GPS.GPGGA.HeightOfGeoid.ToString();
lbGGADGPSupdate.Text = GPS.GPGGA.DGPSUpdate.ToString();
lbGGADGPSID.Text = GPS.GPGGA.DGPSStationID;
break;
case GPSEventType.GPGLL: //Geographic position, Latitude and Longitude
lbGLLPosition.Text = GPS.GPGLL.Position.ToString();
lbGLLTimeOfSolution.Text = (GPS.GPGLL.TimeOfSolution.HasValue ? GPS.GPGLL.TimeOfSolution.Value.Hours.ToString() + ":" + GPS.GPGLL.TimeOfSolution.Value.Minutes.ToString() + ":" + GPS.GPGLL.TimeOfSolution.Value.Seconds.ToString() : "");
lbGLLDataValid.Text = GPS.GPGLL.DataValid.ToString();
break;
case GPSEventType.GPGSA: //GPS DOP and active satellites
if (GPS.GPGSA.Mode == 'A')
lbGSAMode.Text = "Auto";
else if (GPS.GPGSA.Mode == 'M')
lbGSAMode.Text = "Manual";
else lbGSAMode.Text = "";
lbGSAFixMode.Text = GPS.GPGSA.FixMode.ToString();
lbGSAPRNs.Text = "";
if (GPS.GPGSA.PRNInSolution.Count > 0)
foreach (string prn in GPS.GPGSA.PRNInSolution)
lbGSAPRNs.Text += prn + " ";
else
lbGSAPRNs.Text += "none";
lbGSAPDOP.Text = GPS.GPGSA.PDOP.ToString() + " (" + DOPtoWord(GPS.GPGSA.PDOP) + ")";
lbGSAHDOP.Text = GPS.GPGSA.HDOP.ToString() + " (" + DOPtoWord(GPS.GPGSA.HDOP) + ")";
lbGSAVDOP.Text = GPS.GPGSA.VDOP.ToString() + " (" + DOPtoWord(GPS.GPGSA.VDOP) + ")";
break;
case GPSEventType.GPGSV: //Satellites in view
if (NMEAtabs.TabPages[NMEAtabs.SelectedIndex].Text == "GPGSV") //Only update this tab when it is active
DrawGSV();
break;
case GPSEventType.PGRME: //Garmin proprietary sentences.
lbRMEHorError.Text = GPS.PGRME.EstHorisontalError.ToString();
lbRMEVerError.Text = GPS.PGRME.EstVerticalError.ToString();
lbRMESphericalError.Text = GPS.PGRME.EstSphericalError.ToString();
break;
case GPSEventType.TimeOut: //Serialport timeout.
statusBar1.Text = "Serialport timeout";
/*notification1.Caption = "GPS Serialport timeout";
notification1.InitialDuration = 5;
notification1.Text = "Check your settings and connection";
notification1.Critical = false;
notification1.Visible = true;
*/
break;
}
}