public MainForm()
{
InitializeComponent();
#region filenames
DateTime startTime = DateTime.Now;
settingsFileName = Path.ChangeExtension(Application.ExecutablePath, "settings");
loggerFileName = StrUtils.GetTimeDirTreeFileName(startTime, Application.ExecutablePath, "LOG", "log", true);
snapshotsPath = StrUtils.GetTimeDirTree(startTime, Application.ExecutablePath, "SNAPSHOTS", false);
#endregion
#region logger
logger = new TSLogProvider(loggerFileName);
logger.WriteStart();
logger.TextAddedEvent += (o, e) =>
{
if (geoPlotCartesian.InvokeRequired)
{
geoPlotCartesian.Invoke((MethodInvoker) delegate
{
geoPlotCartesian.AppendHistoryLine(e.Text);
geoPlotCartesian.Invalidate();
});
}
else
{
geoPlotCartesian.AppendHistoryLine(e.Text);
geoPlotCartesian.Invalidate();
}
};
#endregion
#region settingsProvider
settingsProvider = new SimpeSettingsProviderXML <SettingsContainer>();
settingsProvider.isSwallowExceptions = false;
try
{
settingsProvider.Load(settingsFileName);
}
catch (Exception ex)
{
ProcessException(ex, true);
}
settingsProvider.isSwallowExceptions = true;
logger.Write(settingsProvider.Data.ToString());
#endregion
#region NMEA
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.VLB);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.VLB, "L", "x.x,x.x,x.x,x.x,x,x.x,x.x,x.x");
#endregion
#region agingValues
targetLatitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°", x));
targetLongitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LON: {0:F06}°", x));
targetRadialError = new AgingValue <double>(3, 300, (x) => string.Format(CultureInfo.InvariantCulture, "RER: {0:F03} m", x));
targetTemperature = new AgingValue <double>(3, 600, (x) => string.Format(CultureInfo.InvariantCulture, "TMP: {0:F01} °C", x));
targetDepth = new AgingValue <double>(3, 60, (x) => string.Format(CultureInfo.InvariantCulture, "DPT: {0:F03} m", x));
targetBatVoltage = new AgingValue <double>(3, 300, (x) => string.Format(CultureInfo.InvariantCulture, "BAT: {0:F01} V", x));
targetMSR = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "MSR: {0:F01} dB", x));
targetPTime = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "TIM: {0:F04} sec", x));
ownLatitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°", x));
ownLongitude = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "LON: {0:F06}°", x));
ownDepth = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "DPT: {0:F03} m", x));
ownBatteryVoltage = new AgingValue <double>(3, 20, (x) => string.Format(CultureInfo.InvariantCulture, "BAT: {0:F01} V", x));
#endregion
#region geoPlotCartesian
geoPlotCartesian.AddTrack("Rover", Color.Gray, 2, 2, settingsProvider.Data.MeasurementsFIFOSize, true);
geoPlotCartesian.AddTrack("Measurements", Color.Blue, 2, 2, settingsProvider.Data.MeasurementsFIFOSize, true);
geoPlotCartesian.AddTrack("Reference point", Color.Magenta, 4, 4, 1, false);
geoPlotCartesian.AddTrack("Base", Color.Green, 4, 4, settingsProvider.Data.BaseSize, false);
geoPlotCartesian.AddTrack("Target", Color.Red, 6, 6, settingsProvider.Data.TargetLocationFIFOSize, true);
#endregion
#region vlblCore
vlblCore = new VLBLCore <VLBLTOAMeasurement>(settingsProvider.Data.MeasurementsFIFOSize,
settingsProvider.Data.BaseSize,
settingsProvider.Data.RadialErrorThreshold,
settingsProvider.Data.SimplexSize,
UCNLNav.Algorithms.WGS84Ellipsoid);
vlblCore.BaseUpdatedEventHandler += (o, e) => { UpdateTrack("Base", e.BasePoints); };
vlblCore.ReferencePointUpdatedEventHandler += (o, e) => { UpdateTrack("Reference point", vlblCore.ReferencePoint); };
vlblCore.TargetPositionUpdatedEventHandler += (o, e) =>
{
UpdateTrack("Target", e.TargetPosition);
if (InvokeRequired)
{
Invoke((MethodInvoker) delegate
{
targetLatitude.Value = e.TargetPosition.Latitude;
targetLongitude.Value = e.TargetPosition.Longitude;
targetRadialError.Value = e.RadialError;
});
}
else
{
targetLatitude.Value = e.TargetPosition.Latitude;
targetLongitude.Value = e.TargetPosition.Longitude;
targetRadialError.Value = e.RadialError;
}
};
#endregion
#region tracks
tracks = new Dictionary <string, List <GeoPoint3D> >();
#endregion
#region InPort
inPort = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.InPortName, settingsProvider.Data.InPortBaudrate,
System.IO.Ports.Parity.None,
DataBits.dataBits8,
System.IO.Ports.StopBits.One,
System.IO.Ports.Handshake.None));
inPort.NewNMEAMessage += new EventHandler <NewNMEAMessageEventArgs>(inPort_NewNMEAMessage);
#endregion
#region OutPort
if (settingsProvider.Data.IsUseOutPort)
{
outPort = new SerialPort(settingsProvider.Data.OutPortName, (int)settingsProvider.Data.OutPortBaudrate);
}
#endregion
#region timer
timer = new PrecisionTimer();
timer.Period = 1000;
timer.Mode = Mode.Periodic;
timer.Tick += new EventHandler(timer_Tick);
timer.Start();
#endregion
}
public RWLT_Core(SerialPortSettings rwltPortSettings, double radialErrorThreshold, double simplexSize,
int courseEstimatorFIFOSize, int trkFilterFIFOSize)
{
#region parameters
var basesIDs = Enum.GetValues(typeof(BaseIDs));
foreach (BaseIDs baseID in basesIDs)
{
if (baseID != BaseIDs.BASE_INVALID)
{
BaseBatVoltages.Add(baseID, new AgingValue <double>(4, 10, svoltageFormatter));
BaseMSRs.Add(baseID, new AgingValue <double>(4, 10, msrFormatter));
}
}
HDOPState = new AgingValue <DOPState>(4, 10, x => x.ToString().ToUpperInvariant());
TBAState = new AgingValue <TBAQuality>(4, 10, x => x.ToString().Replace('_', ' ').ToUpperInvariant());
TargetLatitude = new AgingValue <double>(4, 10, latlonFormatter);
TargetLongitude = new AgingValue <double>(4, 10, latlonFormatter);
TargetLocationRadialError = new AgingValue <double>(4, 10, rerrFormatter);
TargetPressure = new AgingValue <double>(6, 10, prsFormatter);
TargetTemperature = new AgingValue <double>(60, 120, tempFormatter);
TargetBatVoltage = new AgingValue <double>(30, 120, svoltageFormatter);
TargetDepth = new AgingValue <double>(6, 10, dptdstFormatter);
TargetAlarm = new AgingValue <PingerCodeIDs>(600, 6000, pAlmFormatter);
DistanceToTarget = new AgingValue <double>(4, 10, dptdstFormatter);
ForwardAzimuthToTarget = new AgingValue <double>(4, 10, courseFormatter);
ReverseAzimuthToTarget = new AgingValue <double>(4, 10, courseFormatter);
TargetCourse = new AgingValue <double>(4, 10, courseFormatter);
AUXLatitude = new AgingValue <double>(4, 10, latlonFormatter);
AUXLongitude = new AgingValue <double>(4, 10, latlonFormatter);
AUXTrack = new AgingValue <double>(4, 10, courseFormatter);
AUXSpeed = new AgingValue <double>(4, 10, speedFormatter);
CEP = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
DRMS = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
DRMS2 = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
DRMS3 = new AgingValue <double>(4, 300, x => string.Format(CultureInfo.InvariantCulture, "{0:F03} m", x));
#endregion
#region trkFilter
trkFilter = new TrackFilter(trkFilterFIFOSize);
#endregion
#region pCore
pCore = new PCore2D <GeoPoint3DT>(radialErrorThreshold, simplexSize, Algorithms.WGS84Ellipsoid, courseEstimatorFIFOSize);
pCore.RadialErrorExeedsThrehsoldEventHandler += new EventHandler(pCore_RadialErrorExeedsThresholdEventHandler);
pCore.TargetLocationUpdatedExHandler += new EventHandler <TargetLocationUpdatedExEventArgs>(pCore_TargetLocationUpdatedExEventHandler);
pCore.BaseQualityUpdatedHandler += new EventHandler <BaseQualityUpdatedEventArgs>(pCore_BaseQualityUpdatedEventHandler);
#endregion
#region basesProcessor
baseProcessor = new RWLT_BaseProcessor(4, 2.0);
#endregion
#region NMEA
if (!nmeaSingleton)
{
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.RWL);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.RWL, "A", "x,x.x,x.x,x.x,x.x,x,x.x,x.x,x.x");
}
#endregion
#region inPort
inPort = new NMEASerialPort(rwltPortSettings);
inPort.NewNMEAMessage += (o, e) =>
{
LogEvent.Rise(o, new LogEventArgs(LogLineType.INFO, string.Format("{0} (IN) >> {1}", inPort.PortName, e.Message)));
NMEAListener.ProcessIncoming(0, e.Message);
};
inPort.PortError += (o, e) => LogEvent.Rise(o, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (IN) >> {1}", inPort.PortName, e.EventType.ToString())));
#endregion
#region NMEAListener
NMEAListener = new NMEAMultipleListener();
NMEAListener.NMEAProprietaryUnsupportedSentenceParsed += new EventHandler <NMEAUnsupportedProprietaryEventArgs>(NMEAPSentenceReceived);
NMEAListener.RMCSentenceReceived += new EventHandler <RMCMessageEventArgs>(GNSS_RMCSentenceReceived);
#endregion
#region timer
timer = new PrecisionTimer();
timer.Period = 100;
timer.Tick += (o, e) =>
{
if (++systemUpdateTS > systemUpdateLimit)
{
systemUpdateTS = 0;
SystemUpdateEvent.Rise(this, new EventArgs());
}
if (inPort.IsOpen && (++inPortTimeoutTS > inPortTimeoutLimit))
{
inPortTimeoutTS = 0;
InPortTimeout = true;
LogEvent.Rise(this, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (IN) >> TIMEOUT", inPort.PortName)));
}
if (AUXGNSSUsed && auxGNSSPort.IsOpen && (++AUXGNSSTimeoutTS > AUXGNSSTimeoutLimit))
{
AUXGNSSTimeoutTS = 0;
AUXGNSSTimeout = true;
LogEvent.Rise(this, new LogEventArgs(LogLineType.ERROR, string.Format("{0} (AUX) >> TIMEOUT", auxGNSSPort.PortName)));
}
};
timer.Start();
#endregion
statHelper = new List <GeoPoint>();
}
public APLLBLCore(Dictionary <string, SerialPortSettings> inPortSettings,
double radialErrorThreshold, double simplexSize, int courseEstimatorFifoSize, int trackFilterSize)
{
#region misc. initialization
primaryGNSSFixRMC = new AgingValue <RMCMessageEventArgs>(2, 10,
x => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°\r\nLON: {1:F06}°\r\nSPD: {2:F01} m/s (3:F01 km/h)\r\nTRK: {4:F01}°",
x.Latitude, x.Longitude, x.SpeedKmh / 3.6, x.SpeedKmh, x.TrackTrue));
meanWaterTemperatureC = new AgingValue <double>(10, 30, x => string.Format(CultureInfo.InvariantCulture, "MTW: {0:F01} °C", x));
targetFix = new AgingValue <GeoPoint3DETm>(3, 60,
x => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°\r\nLON: {1:F06}°\r\nRER: {2:F03} m",
x.Latitude, x.Longitude, x.RadialError));
targetFixFlt = new AgingValue <GeoPoint3DETm>(3, 60,
x => string.Format(CultureInfo.InvariantCulture, "LAT: {0:F06}°\r\nLON: {1:F06}°",
x.Latitude, x.Longitude));
targetCourse = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "CRS: {0:F01}°", x));
distanceToTarget = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "D2T: {0:F01} m", x));
forwardAzimuthToTarget = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "FAZ: {0:F01}°", x));
reverseAzimuthToTarget = new AgingValue <double>(4, 8, x => string.Format(CultureInfo.InvariantCulture, "RAZ: {0:F01}°", x));
BaseBatStates = new Dictionary <BaseIDs, AgingValue <bool> >();
BaseBatStates.Add(BaseIDs.BASE_1, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
BaseBatStates.Add(BaseIDs.BASE_2, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
BaseBatStates.Add(BaseIDs.BASE_3, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
BaseBatStates.Add(BaseIDs.BASE_4, new AgingValue <bool>(30, 60, x => !x ? string.Format("{0} BAT LOW!", BaseIDs.BASE_1) : string.Empty));
dopState = new AgingValue <DOPState>(4, 10, x => x.ToString().Replace('_', ' ').ToUpperInvariant());
tbaQuality = new AgingValue <TBAQuality>(4, 10, x => x.ToString().Replace('_', ' ').ToUpperInvariant());
#endregion
#region pCore
trkFilter = new TrackFilter(trackFilterSize);
pCore = new PCore2D <GeoPoint3DT>(radialErrorThreshold, simplexSize, Algorithms.WGS84Ellipsoid, courseEstimatorFifoSize);
pCore.RadialErrorExeedsThrehsoldEventHandler += (o, e) => InfoEventHandler.Rise(this, new LogEventArgs(LogLineType.INFO, "WAYU Pinger location failed: radial error exeeds threshold"));
pCore.TargetLocationUpdatedExHandler += (o, e) =>
{
targetFix.Value = new GeoPoint3DETm(e.Location.Latitude, e.Location.Longitude, e.Location.Depth, e.Location.RadialError, e.TimeStamp);
targetCourse.Value = e.Course;
var fltTrk = trkFilter.Filter(e.Location.Latitude, e.Location.Longitude);
targetFixFlt.Value = new GeoPoint3DETm(fltTrk.Latitude, fltTrk.Longitude, e.Location.Depth, e.Location.RadialError, e.TimeStamp);
if (primaryGNSSFixRMC.IsInitializedAndNotObsolete)
{
UpdateTargetRelativeData();
}
InfoEventHandler.Rise(this, new LogEventArgs(LogLineType.INFO,
string.Format(CultureInfo.InvariantCulture, "WAYU Pinger located: {0}, Course: {1:F01}°",
targetFixFlt, e.Course)));
TrackUpdateHandler.Rise(this,
new TrackUpdateEventArgs("WAYU (RAW)", targetFix.Value, e.Course));
TrackUpdateHandler.Rise(this,
new TrackUpdateEventArgs("WAYU (FLT)", targetFixFlt.Value, e.Course));
if ((outPort != null) &&
(outPort.IsOpen))
{
WriteOutData(targetFixFlt.Value.Latitude, targetFixFlt.Value.Longitude, 0.0, targetFix.Value.RadialError,
targetCourse.Value, targetFix.Value.RadialError <= pCore.RadialErrorThreshold);
}
SystemUpdate();
};
pCore.BaseQualityUpdatedHandler += (o, e) =>
{
dopState.Value = e.DopState;
tbaQuality.Value = e.TBAState;
};
#endregion
#region basesProcessor
basesProcessor = new APLBaseProcessor(4, 2.0);
#endregion
#region NMEA
if (!nmeaSingleton)
{
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.APL);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.APL, "A", "x,x.x,x.x,x.x,x,x.x");
nmeaSingleton = true;
}
#endregion
#region Port dictionaries
portDescrByHash = new Dictionary <int, string>();
portNameByHash = new Dictionary <int, string>();
portHashByDescr = new Dictionary <string, int>();
portTimoutFlags = new Dictionary <int, bool>();
portTSByHash = new Dictionary <int, int>();
portDescrByHash.Add(emuID, emuIDstr);
portNameByHash.Add(emuID, emuIDstr);
portHashByDescr.Add(emuIDstr, emuID);
#endregion
#region nmeaListener
nmeaListener = new NMEAMultipleListener();
nmeaListener.LogEventHandler += (o, e) => InfoEventHandler.Rise(o, e);
nmeaListener.NMEAIncomingMessageReceived += (o, e) => InfoEventHandler.Rise(o,
new LogEventArgs(LogLineType.INFO,
string.Format("{0} ({1}) >> {2}", portNameByHash[e.SourceID], portDescrByHash[e.SourceID], e.Message)));
nmeaListener.RMCSentenceReceived += new EventHandler <RMCMessageEventArgs>(nmeaListener_RMCSentenceReceivedHandler);
nmeaListener.MTWSentenceReceived += new EventHandler <MTWMessageEventArgs>(nmeaListener_MTWSentenceReceivedHandler);
nmeaListener.NMEAProprietaryUnsupportedSentenceParsed += new EventHandler <NMEAUnsupportedProprietaryEventArgs>(nmeaListener_NMEAUnsupportedProprietaryReceivedHander);
#endregion
#region inPorts
List <SerialPortSettings> portsList = new List <SerialPortSettings>();
foreach (var inPort in inPortSettings)
{
int portHash = inPort.Value.PortName.GetHashCode();
portDescrByHash.Add(portHash, inPort.Key);
portNameByHash.Add(portHash, inPort.Value.PortName);
portHashByDescr.Add(inPort.Key, portHash);
portTimoutFlags.Add(portHash, false);
portTSByHash.Add(portHash, 0);
portsList.Add(inPort.Value);
}
inPorts = new SerialPortsPool(portsList.ToArray());
inPorts.DataReceived += (o, e) =>
{
int portKey = e.PortName.GetHashCode();
portTSByHash[portKey] = 0;
if (portTimoutFlags[portKey])
{
portTimoutFlags[portKey] = false;
PortStateChangedHandler.Rise(this, new EventArgs());
}
nmeaListener.ProcessIncoming(portKey, e.Data);
};
inPorts.ErrorReceived += (o, e) => InfoEventHandler.Rise(o,
new LogEventArgs(LogLineType.ERROR,
string.Format("{0} ({1}) >> {2}", e.PortName, portDescrByHash[e.PortName.GetHashCode()], e.EventType.ToString())));
#endregion
#region timer
timer = new PrecisionTimer();
timer.Mode = Mode.Periodic;
timer.Period = 100;
timer.Tick += (o, e) =>
{
if (IsOpen)
{
int[] keys = new int[portTSByHash.Count];
portTSByHash.Keys.CopyTo(keys, 0);
for (int i = 0; i < keys.Length; i++)
{
portTSByHash[keys[i]] += timerPeriodMS;
if (portTSByHash[keys[i]] > portsTimeoutMS)
{
portTSByHash[keys[i]] = 0;
if (!portTimoutFlags[keys[i]])
{
portTimoutFlags[keys[i]] = true;
PortStateChangedHandler.Rise(this, new EventArgs());
}
}
}
}
systemUpdateTS += timerPeriodMS;
if (systemUpdateTS > systemUpdateTimeoutMS)
{
SystemUpdate();
}
};
timer.Start();
#endregion
}
