/// <summary>
/// Event handler for the SerialGPS, parses the NMEA message and updates CurrentGeopoint.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void _serialGPSDevice_MessageReceived(object sender, NmeaMessageReceivedEventArgs e)
{
if (!_serialGPSDeviceFound)
{
_serialGPSDeviceFound = true;
}
double Latitude = 0.0, Longitude = 0.0;
NMEAMessage = e.Message.ToString();
//Parse all NMEA messages supported by BU353-s4.
//Only GGA, RMC, and GLL support location
switch (e.Message.MessageType)
{
case "GPGGA":
Gpgga gga = (Gpgga)e.Message;
Latitude = gga.Latitude;
Longitude = gga.Longitude;
break;
case "GPRMC":
Gprmc rmc = (Gprmc)e.Message;
Latitude = rmc.Latitude;
Longitude = rmc.Longitude;
break;
case "GPGLL":
Gpgll gll = (Gpgll)e.Message;
Latitude = gll.Latitude;
Longitude = gll.Longitude;
break;
case "GPGSA":
Gpgsa gsa = (Gpgsa)e.Message;
break;
case "GPGSV":
Gpgsv gsv = (Gpgsv)e.Message;
break;
}
//make sure the delta-p is above a threshold
if (Latitude != 0.0 && Longitude != 0.0)
{
double distance = Haversine(Latitude, Longitude, CurrentGeopoint.Position.Latitude, CurrentGeopoint.Position.Longitude);
if (distance > 0) //2.5m is minimum accuracy of BU-353 S4 and WAAS/SBAS corrections
{
CurrentGeopoint = CreateGeopoint(Latitude, Longitude);
}
}
}
private void NmeaStreamDevice_MessageReceived(object sender, NmeaMessageReceivedEventArgs e)
{
if (!messageStats.ContainsKey(e.Message.MessageType))
{
messageStats.Add(e.Message.MessageType, 0);
}
messageStats[e.Message.MessageType]++;
switch (e.Message.MessageType)
{
case "GPGSV":
Gpgsv gpgsv = (Gpgsv)e.Message;
numSattelites = gpgsv.SVsInView;
break;
case "GPGLL": //enthält GPS Daten
Gpgll gpgll = (Gpgll)e.Message;
if (gpgll.DataActive)
{
lon = gpgll.Longitude;
lat = gpgll.Latitude;
validGpsSignal = true;
gpsLlTimestamp = DateTime.Now;
}
break;
case "GPGSA":
Gpgsa gpgsa = (Gpgsa)e.Message;
fixMode = gpgsa.FixMode;
break;
case "GPRMC": //enthält GPS Daten
Gprmc gprmc = (Gprmc)e.Message;
break;
case "GPVTG":
break;
case "GPZDA":
break;
case "GPGGA": //enthält GPS Daten
Gpgga gpgga = (Gpgga)e.Message;
altitude = gpgga.Altitude;
break;
default:
lock (lockVictim)
{
tourStreamWriter.WriteLine(String.Format("UNIMP_GPS;", e.Message.ToString()));
}
break;
}
}
public void TestGpgga()
{
string input = "$GPGGA,235236,3925.9479,N,11945.9211,W,1,10,0.8,1378.0,M,-22.1,M,,*46";
var msg = NmeaMessage.Parse(input);
Assert.IsInstanceOfType(msg, typeof(Gpgga));
Gpgga gga = (Gpgga)msg;
Assert.AreEqual(new TimeSpan(23, 52, 36), gga.TimeSinceLastDgpsUpdate);
Assert.AreEqual(39.432465, gga.Latitude);
Assert.AreEqual(-119.7653516666666667, gga.Longitude, 0.0000000001);
Assert.AreEqual(NmeaParser.Nmea.Gps.Gpgga.FixQuality.GpsFix, gga.Quality);
Assert.AreEqual(10, gga.NumberOfSatellites);
Assert.AreEqual(.8, gga.Hdop);
Assert.AreEqual(1378, gga.Altitude);
Assert.AreEqual("M", gga.AltitudeUnits);
Assert.AreEqual(-22.1, gga.HeightOfGeoid);
Assert.AreEqual("M", gga.HeightOfGeoidUnits);
Assert.AreEqual(-1, gga.DgpsStationId);
}
public int ParseNmeaMessage(Gpgga message)
{
int CogNow = 0;
NavigationDisplay navi = new NavigationDisplay();
int SecondsNow = message.FixTime.Seconds;
SecondsNow = SecondsNow == 60 ? 0 : SecondsNow;
if (SecondsNow > Seconds)
{
if (NavMessages.Count > 1000)
{
NavMessages.Dequeue();
}
NavMessages.Enqueue(message);
var ImmediateCOG = FindCOGFromQueue(0, 5);
CogNow = ImmediateCOG;
navi.NavReadings.CogSlow = NavMessages.Count();
}
Seconds = SecondsNow;
return(CogNow);
}
public bool IsGoodMessage(Gpgga newReading)
{
return(newReading.NumberOfSatellites > 3 && Math.Abs(newReading.Latitude) > 0);
}