public void TestConstructorPrti01Sentence()
{
string nmea = "$PRTI01,1000,1,1468,-99999,-99999,-99999,0,,,,,0004*05";
// Create Sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
// Add Sentence to data set
adcpData.AddEnsembleData(sent);
// Check Ensemble number
Assert.AreEqual(1, adcpData.EnsembleData.EnsembleNumber);
// Check number of beams
Assert.AreEqual(DataSet.Ensemble.DEFAULT_NUM_BEAMS_BEAM, adcpData.EnsembleData.NumBeams, "Number of beams is Incorrect");
Assert.AreEqual(DataSet.Ensemble.DEFAULT_NUM_BEAMS_NONBEAM, adcpData.EnsembleData.ElementsMultiplier, "Number of beams is Incorrect");
// Check number of bins
Assert.AreEqual(0, adcpData.EnsembleData.NumBins);
// Check time
Assert.AreEqual(1000, sent.StartTime, "NMEA start time incorrect");
Assert.AreEqual(DateTime.Now.Hour, adcpData.EnsembleData.EnsDateTime.Hour, "Incorrect Ensemble time in Hours " + adcpData.EnsembleData.EnsDateTime.ToString());
Assert.AreEqual(DateTime.Now.Minute, adcpData.EnsembleData.EnsDateTime.Minute, "Incorrect Ensemble time in Minutes " + adcpData.EnsembleData.EnsDateTime.ToString());
Assert.AreEqual(DateTime.Now.Second, adcpData.EnsembleData.EnsDateTime.Second, "Incorrect Ensemble time in Seconds " + adcpData.EnsembleData.EnsDateTime.ToString());
Assert.AreEqual(DateTime.Now.Millisecond, adcpData.EnsembleData.EnsDateTime.Millisecond, "Incorrect Ensemble time in Milliseconds " + adcpData.EnsembleData.EnsDateTime.ToString());
}
public void TestConstructorPrti01Sentence()
{
string nmea = "$PRTI01,379550,1,1468,-99999,-99999,-99999,0,,,,,0004*09";
// Create Sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
// Add ancillary data
adcpData.AddAncillaryData(sent);
Assert.AreEqual(true, adcpData.IsAncillaryAvail, "Ancillary data not created");
// Check temperature
Assert.AreEqual(14.68, adcpData.AncillaryData.WaterTemp, 0.00001, "Water Temperature was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.FirstBinRange, "First Bin Range was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.BinSize, "Bin Size was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.FirstPingTime, "First Ping Time was incorrect");
Assert.AreEqual(3795, adcpData.AncillaryData.LastPingTime, "Last Ping Time was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Heading, "Heading was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Pitch, "Pitch was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Roll, "Roll was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.SystemTemp, "System Temp was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Salinity, "Salinity was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Pressure, "Pressure was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.TransducerDepth, "Transducer Depth was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.SpeedOfSound, "Speed Of Sound was incorrect");
}
/// <summary>
/// Create the data set using PRTI01. Then add PRTI02 to the
/// dataset. Then send the dataset.
/// </summary>
/// <param name="prti01">PRTI01 Sentence.</param>
/// <param name="prti02">PRTI02 Sentence.</param>
/// <param name="prti03">PRTI03 Sentence.</param>
/// <param name="prti30">PRTI30 Sentence.</param>
/// <param name="prti31">PRTI31 Sentence.</param>
/// <param name="nmeaBuffer">NMEA buffer.</param>
/// <returns>Created ensemble.</returns>
private DataSet.Ensemble CreateEnsemble(Prti01Sentence prti01, Prti02Sentence prti02, Prti03Sentence prti03 = null, Prti30Sentence prti30 = null, Prti31Sentence prti31 = null, List <string> nmeaBuffer = null)
{
// Create the dataset
DataSet.Ensemble ensemble = CreateDataSet(prti01);
if (prti02 != null)
{
ensemble.AddAdditionalBottomTrackData(prti02);
}
if (prti03 != null)
{
ensemble.AddAdditionalBottomTrackData(prti03);
}
if (prti30 != null)
{
ensemble.AddAdditionalAncillaryData(prti30);
ensemble.AddAdditionalBottomTrackData(prti30);
// Setup the serial number
if (ensemble.IsEnsembleAvail)
{
// Remove the temp serial number subsystem
ensemble.EnsembleData.SysSerialNumber.RemoveSubsystem(SerialNumber.DVL_Subsystem);
// Add the actual subsystem
ensemble.EnsembleData.SysSerialNumber.AddSubsystem(prti30.SubsystemConfig.SubSystem);
}
}
if (prti31 != null)
{
ensemble.AddAdditionalAncillaryData(prti31);
ensemble.AddAdditionalBottomTrackData(prti31);
// Setup the serial number
if (ensemble.IsEnsembleAvail)
{
// Remove the temp serial number subsystem
ensemble.EnsembleData.SysSerialNumber.RemoveSubsystem(SerialNumber.DVL_Subsystem);
// Add the actual subsystem
ensemble.EnsembleData.SysSerialNumber.AddSubsystem(prti30.SubsystemConfig.SubSystem);
}
}
if (nmeaBuffer != null)
{
StringBuilder sb = new StringBuilder();
foreach (var nmea in nmeaBuffer)
{
sb.Append(nmea);
}
ensemble.AddNmeaData(sb.ToString());
}
return(ensemble);
}
/// <summary>
/// Create the data set using PRTI01.
/// Then send the dataset.
/// </summary>
/// <param name="sentence">PRTI01 Sentence.</param>
private void SendData(Prti01Sentence sentence)
{
// Create the dataset
DataSet.Ensemble adcpData = CreateDataSet(sentence);
// Send the data set
SendData(adcpData, sentence.ToByteArray());
}
public void TestConstructorArg()
{
string nmea = "$PRTI01,379550,1,1468,-99999,-99999,-99999,0,,,,,0004,3,0*0A";
//NmeaSentence sent = new NmeaSentence(nmea);
Prti01Sentence nm = new Prti01Sentence("379550", "1", "1468",
Speed.BadDVL.Value.ToString(), Speed.BadDVL.Value.ToString(), Speed.BadDVL.Value.ToString(),
new Distance(0, DistanceUnit.Millimeters).Value.ToString(),
"", "", "",
"",
"0004", "3", "0");
Assert.AreEqual(true, nm.IsValid);
Assert.AreEqual(nmea, nm.Sentence);
Assert.AreEqual("$PRTI01", nm.CommandWord);
Assert.AreEqual("0A", nm.CorrectChecksum);
Assert.AreEqual("0A", nm.ExistingChecksum);
Assert.AreEqual(14, nm.Words.Length);
Assert.AreEqual("379550", nm.Words[0]);
Assert.AreEqual("1", nm.Words[1]);
Assert.AreEqual("1468", nm.Words[2]);
Assert.AreEqual("-99999", nm.Words[3]);
Assert.AreEqual("-99999", nm.Words[4]);
Assert.AreEqual("-99999", nm.Words[5]);
Assert.AreEqual("0", nm.Words[6]);
Assert.AreEqual("", nm.Words[7]);
Assert.AreEqual("", nm.Words[8]);
Assert.AreEqual("", nm.Words[9]);
Assert.AreEqual("", nm.Words[10]);
Assert.AreEqual("0004", nm.Words[11]);
Assert.AreEqual("3", nm.Words[12]);
Assert.AreEqual("0", nm.Words[13]);
Assert.AreEqual(379550, nm.StartTime);
Assert.AreEqual(1, nm.SampleNumber);
Assert.AreEqual(1468, nm.Temperature);
Assert.AreEqual(Speed.BadDVL, nm.BottomTrackVelX);
Assert.AreEqual(Speed.BadDVL, nm.BottomTrackVelY);
Assert.AreEqual(Speed.BadDVL, nm.BottomTrackVelZ);
Assert.AreEqual(new Distance(0, DistanceUnit.Millimeters), nm.BottomTrackDepth);
Assert.AreEqual(Speed.Empty, nm.WaterMassVelX);
Assert.AreEqual(Speed.Empty, nm.WaterMassVelY);
Assert.AreEqual(Speed.Empty, nm.WaterMassVelZ);
Assert.AreEqual(false, nm.SystemStatus.IsBottomTrack3BeamSolution());
Assert.AreEqual(true, nm.SystemStatus.IsBottomTrackHold());
Assert.AreEqual(false, nm.SystemStatus.IsReceiverTimeout());
Assert.AreEqual(false, nm.SystemStatus.IsWaterTrack3BeamSolution());
Assert.AreEqual(false, nm.SystemStatus.IsBottomTrackSearching());
}
public void TestConstructorArg()
{
string nmea = "$PRTI01,379550,1,1468,-99999,-99999,-99999,0,,,,,0004,3,0*0A";
//NmeaSentence sent = new NmeaSentence(nmea);
Prti01Sentence nm = new Prti01Sentence("379550", "1", "1468",
Speed.BadDVL.Value.ToString(), Speed.BadDVL.Value.ToString(), Speed.BadDVL.Value.ToString(),
new Distance(0, DistanceUnit.Millimeters).Value.ToString(),
"", "", "",
"",
"0004", "3", "0");
Assert.AreEqual(true, nm.IsValid);
Assert.AreEqual(nmea, nm.Sentence);
Assert.AreEqual("$PRTI01", nm.CommandWord);
Assert.AreEqual("0A", nm.CorrectChecksum);
Assert.AreEqual("0A", nm.ExistingChecksum);
Assert.AreEqual(14, nm.Words.Length);
Assert.AreEqual("379550", nm.Words[0]);
Assert.AreEqual("1", nm.Words[1]);
Assert.AreEqual("1468", nm.Words[2]);
Assert.AreEqual("-99999", nm.Words[3]);
Assert.AreEqual("-99999", nm.Words[4]);
Assert.AreEqual("-99999", nm.Words[5]);
Assert.AreEqual("0", nm.Words[6]);
Assert.AreEqual("", nm.Words[7]);
Assert.AreEqual("", nm.Words[8]);
Assert.AreEqual("", nm.Words[9]);
Assert.AreEqual("", nm.Words[10]);
Assert.AreEqual("0004", nm.Words[11]);
Assert.AreEqual("3", nm.Words[12]);
Assert.AreEqual("0", nm.Words[13]);
Assert.AreEqual(379550, nm.StartTime);
Assert.AreEqual(1, nm.SampleNumber);
Assert.AreEqual(1468, nm.Temperature);
Assert.AreEqual(Speed.BadDVL, nm.BottomTrackVelX);
Assert.AreEqual(Speed.BadDVL, nm.BottomTrackVelY);
Assert.AreEqual(Speed.BadDVL, nm.BottomTrackVelZ);
Assert.AreEqual(new Distance(0, DistanceUnit.Millimeters), nm.BottomTrackDepth);
Assert.AreEqual(Speed.Empty, nm.WaterMassVelX);
Assert.AreEqual(Speed.Empty, nm.WaterMassVelY);
Assert.AreEqual(Speed.Empty, nm.WaterMassVelZ);
Assert.AreEqual(false, nm.SystemStatus.IsBottomTrack3BeamSolution());
Assert.AreEqual(true, nm.SystemStatus.IsBottomTrackHold());
Assert.AreEqual(false, nm.SystemStatus.IsReceiverTimeout());
Assert.AreEqual(false, nm.SystemStatus.IsWaterTrack3BeamSolution());
Assert.AreEqual(false, nm.SystemStatus.IsBottomTrackSearching());
}
/// <summary>
/// Decode the buffer. This will create all the datasets based off
/// the sentences.
/// </summary>
/// <param name="buffer">Buffer to decode.</param>
private DataSet.Ensemble DecodeSentences(List <NmeaSentence> buffer)
{
Prti01Sentence prti01 = null;
Prti02Sentence prti02 = null;
Prti03Sentence prti03 = null;
Prti30Sentence prti30 = null;
Prti31Sentence prti31 = null;
var nmeaBuffer = new List <string>();
foreach (var sentence in buffer)
{
// Check for PRTI01
if (sentence.CommandWord.EndsWith(RTI.Prti01Sentence.CMD_WORD_PRTI01, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI01
prti01 = new Prti01Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
// Check for PRTI02
else if (sentence.CommandWord.EndsWith(RTI.Prti02Sentence.CMD_WORD_PRTI02, StringComparison.Ordinal))
{
prti02 = new Prti02Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
// Check for PRTI03
else if (sentence.CommandWord.EndsWith(RTI.Prti03Sentence.CMD_WORD_PRTI03, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI02
prti03 = new Prti03Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
// Check for PRTI30
else if (sentence.CommandWord.EndsWith(RTI.Prti30Sentence.CMD_WORD_PRTI30, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI01 and PRTI02
prti30 = new Prti30Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
// Check for PRTI31
else if (sentence.CommandWord.EndsWith(RTI.Prti31Sentence.CMD_WORD_PRTI31, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI01 and PRTI02
prti31 = new Prti31Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
else
{
// If the data was nether PRTI01 or PRTI02, then it must be GPS NMEA data and add it
// to the NMEA buffer to be processed with a complete dataset
nmeaBuffer.Add(sentence.Sentence + "\r\n");
}
}
return(CreateEnsemble(prti01, prti02, prti03, prti30, prti31, nmeaBuffer));
}
/// <summary>
/// Create a dataset. Set the bottom track instrument velocity and water mass velocity.
/// </summary>
/// <param name="sentence">Sentence containing DVL data.</param>
/// <returns>Dataset with values set.</returns>
private DataSet.Ensemble CreateDataSet(Prti01Sentence sentence)
{
DataSet.Ensemble adcpData = new DataSet.Ensemble();
// Add the Ensemble number to EnsembleDataSet
adcpData.AddEnsembleData(sentence);
// Add the Temp to AncillaryDataSet
adcpData.AddAncillaryData(sentence);
// Add Bottom Track data
adcpData.AddBottomTrackData(sentence);
// Add Water Mass data
adcpData.AddInstrumentWaterMassData(sentence);
return(adcpData);
}
/// <summary>
/// Constructor
/// Initialize any values.
/// </summary>
public AdcpDvlCodec()
{
// Initialize values
//_adcpData = null;
_prti01 = null;
_buffer = "";
// Default to use BT Heading, Pitch and Roll
IsUseBtHpr = true;
_nmeaBuffer = new LinkedList <string>();
// Initialize the thread
_continue = true;
_eventWaitData = new EventWaitHandle(false, EventResetMode.AutoReset);
_processDataThread = new Thread(ProcessDataThread);
_processDataThread.Name = "DVL Codec";
_processDataThread.Start();
}
public void TestConstructorPrti01entenceData()
{
string nmea = "$PRTI01,379550,1,1468,-99999,-99999,-99999,0,300,-200,400,100,0004*20";
// Create Sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
adcpData.AddInstrumentWaterMassData(sent);
Assert.IsTrue(adcpData.IsInstrumentWaterMassAvail, "Instrument Water Mass not added to dataset");
Assert.AreEqual((new DotSpatial.Positioning.Speed(300, DotSpatial.Positioning.SpeedUnit.MillimetersPerSecond)).ToMetersPerSecond().Value, adcpData.InstrumentWaterMassData.VelocityX, 0.00001, "Instrument Water Mass East not properly set.");
Assert.AreEqual((new DotSpatial.Positioning.Speed(-200, DotSpatial.Positioning.SpeedUnit.MillimetersPerSecond)).ToMetersPerSecond().Value, adcpData.InstrumentWaterMassData.VelocityY, 0.00001, "Instrument Water Mass North not properly set.");
Assert.AreEqual((new DotSpatial.Positioning.Speed(400, DotSpatial.Positioning.SpeedUnit.MillimetersPerSecond)).ToMetersPerSecond().Value, adcpData.InstrumentWaterMassData.VelocityZ, 0.00001, "Instrument Water Mass Vertical not properly set.");
Assert.AreEqual((new DotSpatial.Positioning.Distance(100, DotSpatial.Positioning.DistanceUnit.Millimeters)).ToMeters().Value, adcpData.InstrumentWaterMassData.WaterMassDepthLayer, 0.00001, "Instrument Water Mass Depth Layer not properly set.");
}
public void TestConstructorPrti01entenceData()
{
string nmea = "$PRTI01,379550,1,1468,-99999,-99999,-99999,0,300,-200,400,100,0004*20";
// Create Sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
adcpData.AddInstrumentWaterMassData(sent);
Assert.IsTrue(adcpData.IsInstrumentWaterMassAvail, "Instrument Water Mass not added to dataset");
Assert.AreEqual((new DotSpatial.Positioning.Speed(300, DotSpatial.Positioning.SpeedUnit.MillimetersPerSecond)).ToMetersPerSecond().Value, adcpData.InstrumentWaterMassData.VelocityX, 0.00001, "Instrument Water Mass East not properly set.");
Assert.AreEqual((new DotSpatial.Positioning.Speed(-200, DotSpatial.Positioning.SpeedUnit.MillimetersPerSecond)).ToMetersPerSecond().Value, adcpData.InstrumentWaterMassData.VelocityY, 0.00001, "Instrument Water Mass North not properly set.");
Assert.AreEqual((new DotSpatial.Positioning.Speed(400, DotSpatial.Positioning.SpeedUnit.MillimetersPerSecond)).ToMetersPerSecond().Value, adcpData.InstrumentWaterMassData.VelocityZ, 0.00001, "Instrument Water Mass Vertical not properly set.");
Assert.AreEqual((new DotSpatial.Positioning.Distance(100, DotSpatial.Positioning.DistanceUnit.Millimeters)).ToMeters().Value, adcpData.InstrumentWaterMassData.WaterMassDepthLayer, 0.00001, "Instrument Water Mass Depth Layer not properly set.");
}
public void TestConstructorPrti01Sentence()
{
string nmea = "$PRTI01,379550,1,1468,-99999,-99999,-99999,0,,,,,0004*09";
// Create Sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
adcpData.AddInstrumentWaterMassData(sent);
Assert.IsTrue(adcpData.IsInstrumentWaterMassAvail, "Instrument Water Mass not added to dataset");
Assert.AreEqual(adcpData.InstrumentWaterMassData.VelocityX, DataSet.Ensemble.EMPTY_VELOCITY, "Instrument Water Mass East not properly set.");
Assert.AreEqual(adcpData.InstrumentWaterMassData.VelocityY, DataSet.Ensemble.EMPTY_VELOCITY, "Instrument Water Mass North not properly set.");
Assert.AreEqual(adcpData.InstrumentWaterMassData.VelocityZ, DataSet.Ensemble.EMPTY_VELOCITY, "Instrument Water Mass Vertical not properly set.");
Assert.AreEqual(adcpData.InstrumentWaterMassData.WaterMassDepthLayer, 0, "Instrument Water Mass Depth Layer not properly set.");
}
/// <summary>
/// Create the data set using PRTI01. Then add PRTI02 to the
/// dataset. Then send the dataset.
/// </summary>
/// <param name="prti01">PRTI01 Sentence.</param>
/// <param name="prti02">PRTI02 Sentence.</param>
/// <param name="prti30">PRTI30 Sentence.</param>
/// <param name="prti31">PRTI31 Sentence.</param>
private void SendData(Prti01Sentence prti01, Prti02Sentence prti02, Prti30Sentence prti30 = null, Prti31Sentence prti31 = null)
{
// Create the dataset
DataSet.Ensemble adcpData = CreateDataSet(prti01);
adcpData.AddAdditionalBottomTrackData(prti02);
if (IsUseBtHpr)
{
if (prti30 != null)
{
adcpData.AddAdditionalAncillaryData(prti30);
adcpData.AddAdditionalBottomTrackData(prti30);
// Setup the serial number
if (adcpData.IsEnsembleAvail)
{
// Remove the temp serial number subsystem
adcpData.EnsembleData.SysSerialNumber.RemoveSubsystem(SerialNumber.DVL_Subsystem);
// Add the actual subsystem
adcpData.EnsembleData.SysSerialNumber.AddSubsystem(prti30.SubsystemConfig.SubSystem);
}
}
}
else
{
if (prti31 != null)
{
adcpData.AddAdditionalAncillaryData(prti31);
adcpData.AddAdditionalBottomTrackData(prti31);
// Setup the serial number
if (adcpData.IsEnsembleAvail)
{
// Remove the temp serial number subsystem
adcpData.EnsembleData.SysSerialNumber.RemoveSubsystem(SerialNumber.DVL_Subsystem);
// Add the actual subsystem
adcpData.EnsembleData.SysSerialNumber.AddSubsystem(prti30.SubsystemConfig.SubSystem);
}
}
}
// Combine all the messages and convert to a byte array
string adcpMesg = "";
if (prti01 != null)
{
adcpMesg += prti01.ToString();
}
if (prti02 != null)
{
adcpMesg += prti02.ToString();
}
if (prti30 != null)
{
adcpMesg += prti30.ToString();
}
if (prti31 != null)
{
adcpMesg += prti31.ToString();
}
byte[] adcpMesgBA = Encoding.ASCII.GetBytes(adcpMesg);
// Send the data set
SendData(adcpData, adcpMesgBA);
}
public void TestConstructorPrti01Sentence()
{
string nmea = "$PRTI01,379550,1,1468,-99999,-99999,-99999,0,,,,,0004*09";
// Create Sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
// Add Bottom Track data
adcpData.AddBottomTrackData(sent);
Assert.AreEqual(true, adcpData.IsBottomTrackAvail);
Assert.AreEqual(0, adcpData.BottomTrackData.Range[0], "Bottom Track Range B1 incorrect");
Assert.AreEqual(0, adcpData.BottomTrackData.Range[1], "Bottom Track Range B2 incorrect");
Assert.AreEqual(0, adcpData.BottomTrackData.Range[2], "Bottom Track Range B3 incorrect");
Assert.AreEqual(0, adcpData.BottomTrackData.Range[3], "Bottom Track Range B4 incorrect");
Assert.AreEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.InstrumentVelocity[0], "Bottom Track Instrument Velocity X incorrect");
Assert.AreEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.InstrumentVelocity[1], "Bottom Track Instrument Velocity Y incorrect");
Assert.AreEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.InstrumentVelocity[2], "Bottom Track Instrument Velocity Z incorrect");
Assert.AreEqual(0, adcpData.BottomTrackData.InstrumentVelocity[3], "Bottom Track Instrument Velocity Q incorrect");
Assert.AreEqual(0004, adcpData.BottomTrackData.Status.Value, "Bottom Track Instrument Status incorrect");
Assert.AreEqual(sent.SystemStatus.Value, adcpData.BottomTrackData.Status.Value, "Bottom Track Instrument Status incorrect");
}
/// <summary>
/// Process the valid NMEA sentence. Check which
/// type of DVL message it is and create the data set.
/// Then send the data set to the CurrentDataSetManager.
/// </summary>
/// <param name="sentence">Sentence to process.</param>
private void ProcessSentence(NmeaSentence sentence)
{
// Check for PRTI01
if (sentence.CommandWord.EndsWith(RTI.Prti01Sentence.CMD_WORD_PRTI01, StringComparison.Ordinal))
{
// Check if the previous PRTI01 was used
// If it was not used, send the data
if (_prti01 != null)
{
SendData(_prti01);
_prti01 = null;
}
// Store the sentence to be combined with PRTI02
_prti01 = new Prti01Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
// Check for PRTI02
else if (sentence.CommandWord.EndsWith(RTI.Prti02Sentence.CMD_WORD_PRTI02, StringComparison.Ordinal))
{
Prti02Sentence prti02 = new Prti02Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
// Check if the PRTI01 and PRTI02 match
// If they match, combine and send
// If they do not match, send PRTI02
if (_prti01 != null && _prti01.SampleNumber == prti02.SampleNumber)
{
SendData(_prti01, prti02, _prti30, _prti31);
_prti01 = null;
}
else
{
SendData(prti02);
}
}
// Check for PRTI03
else if (sentence.CommandWord.EndsWith(RTI.Prti03Sentence.CMD_WORD_PRTI03, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI02
Prti03Sentence prti03 = new Prti03Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
SendData(prti03);
}
// Check for PRTI30
else if (sentence.CommandWord.EndsWith(RTI.Prti30Sentence.CMD_WORD_PRTI30, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI01 and PRTI02
_prti30 = new Prti30Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
// Check for PRTI31
else if (sentence.CommandWord.EndsWith(RTI.Prti31Sentence.CMD_WORD_PRTI31, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI01 and PRTI02
_prti31 = new Prti31Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
else
{
// If the data was nether PRTI01 or PRTI02, then it must be GPS NMEA data and add it
// to the NMEA buffer to be processed with a complete dataset
AddNmeaData(sentence.Sentence + NMEA_END);
}
}
/// <summary>
/// Create the data set using PRTI01.
/// Then send the dataset.
/// </summary>
/// <param name="sentence">PRTI01 Sentence.</param>
private void SendData(Prti01Sentence sentence)
{
// Create the dataset
DataSet.Ensemble adcpData = CreateDataSet(sentence);
// Send the data set
SendData(adcpData, sentence.ToByteArray());
}
/// <summary>
/// Create a dataset. Set the bottom track instrument velocity and water mass velocity.
/// </summary>
/// <param name="sentence">Sentence containing DVL data.</param>
/// <returns>Dataset with values set.</returns>
private DataSet.Ensemble CreateDataSet(Prti01Sentence sentence)
{
DataSet.Ensemble adcpData = new DataSet.Ensemble();
// Add the Ensemble number to EnsembleDataSet
adcpData.AddEnsembleData(sentence);
// Add the Temp to AncillaryDataSet
adcpData.AddAncillaryData(sentence);
// Add Bottom Track data
adcpData.AddBottomTrackData(sentence);
// Add Water Mass data
adcpData.AddInstrumentWaterMassData(sentence);
return adcpData;
}
/// <summary>
/// Constructor
/// Initialize any values.
/// </summary>
public AdcpDvlCodec()
{
// Initialize values
//_adcpData = null;
_prti01 = null;
// Default to use BT Heading, Pitch and Roll
IsUseBtHpr = true;
_nmeaBuffer = new LinkedList<string>();
// Initialize the thread
_continue = true;
_eventWaitData = new EventWaitHandle(false, EventResetMode.AutoReset);
_processDataThread = new Thread(ProcessDataThread);
_processDataThread.Name = "DVL Codec";
_processDataThread.Start();
}
public void TestConstructorPrti01Sentence()
{
string nmea = "$PRTI01,1000,1,1468,-99999,-99999,-99999,0,,,,,0004*05";
// Create Sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
// Add Sentence to data set
adcpData.AddEnsembleData(sent);
// Check Ensemble number
Assert.AreEqual(1, adcpData.EnsembleData.EnsembleNumber);
// Check number of beams
Assert.AreEqual(DataSet.Ensemble.DEFAULT_NUM_BEAMS_BEAM, adcpData.EnsembleData.NumBeams, "Number of beams is Incorrect");
Assert.AreEqual(DataSet.Ensemble.DEFAULT_NUM_BEAMS_NONBEAM, adcpData.EnsembleData.ElementsMultiplier, "Number of beams is Incorrect");
// Check number of bins
Assert.AreEqual(0, adcpData.EnsembleData.NumBins);
// Check time
Assert.AreEqual(1000, sent.StartTime, "NMEA start time incorrect");
Assert.AreEqual(DateTime.Now.Hour, adcpData.EnsembleData.EnsDateTime.Hour, "Incorrect Ensemble time in Hours " + adcpData.EnsembleData.EnsDateTime.ToString());
Assert.AreEqual(DateTime.Now.Minute, adcpData.EnsembleData.EnsDateTime.Minute, "Incorrect Ensemble time in Minutes " + adcpData.EnsembleData.EnsDateTime.ToString());
Assert.AreEqual(DateTime.Now.Second, adcpData.EnsembleData.EnsDateTime.Second, "Incorrect Ensemble time in Seconds " + adcpData.EnsembleData.EnsDateTime.ToString());
Assert.AreEqual(DateTime.Now.Millisecond, adcpData.EnsembleData.EnsDateTime.Millisecond, "Incorrect Ensemble time in Milliseconds " + adcpData.EnsembleData.EnsDateTime.ToString());
}
public void TestConstructorPrti01Sentence()
{
string nmea = "$PRTI01,379550,1,1468,-99999,-99999,-99999,0,,,,,0004*09";
// Create Sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
adcpData.AddInstrumentWaterMassData(sent);
Assert.IsTrue(adcpData.IsInstrumentWaterMassAvail, "Instrument Water Mass not added to dataset");
Assert.AreEqual(adcpData.InstrumentWaterMassData.VelocityX, DataSet.Ensemble.EMPTY_VELOCITY, "Instrument Water Mass East not properly set.");
Assert.AreEqual(adcpData.InstrumentWaterMassData.VelocityY, DataSet.Ensemble.EMPTY_VELOCITY, "Instrument Water Mass North not properly set.");
Assert.AreEqual(adcpData.InstrumentWaterMassData.VelocityZ, DataSet.Ensemble.EMPTY_VELOCITY, "Instrument Water Mass Vertical not properly set.");
Assert.AreEqual(adcpData.InstrumentWaterMassData.WaterMassDepthLayer, 0, "Instrument Water Mass Depth Layer not properly set.");
}
public void TestConstructorPrti01Sentence()
{
string nmea = "$PRTI01,379550,1,1468,-99999,-99999,-99999,0,,,,,0004*09";
// Create Sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
// Add ancillary data
adcpData.AddAncillaryData(sent);
Assert.AreEqual(true, adcpData.IsAncillaryAvail, "Ancillary data not created");
// Check temperature
Assert.AreEqual(14.68, adcpData.AncillaryData.WaterTemp, 0.00001, "Water Temperature was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.FirstBinRange, "First Bin Range was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.BinSize, "Bin Size was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.FirstPingTime, "First Ping Time was incorrect");
Assert.AreEqual(3795, adcpData.AncillaryData.LastPingTime, "Last Ping Time was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Heading, "Heading was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Pitch, "Pitch was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Roll, "Roll was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.SystemTemp, "System Temp was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Salinity, "Salinity was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.Pressure, "Pressure was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.TransducerDepth, "Transducer Depth was incorrect");
Assert.AreEqual(0, adcpData.AncillaryData.SpeedOfSound, "Speed Of Sound was incorrect");
}
public void TestAddAdditional()
{
string nmea1 = "$PRTI01,380250,8,1464,-1205,-24,-347,79380,,,,,0000*05";
string nmea2 = "$PRTI02,380250,8,1464,1142,323,407,79380,,,,,0000*1C";
// Create sentence
Prti01Sentence sent1 = new Prti01Sentence(nmea1);
Prti02Sentence sent2 = new Prti02Sentence(nmea2);
Assert.AreEqual(true, sent1.IsValid, "PRTI01 NMEA sentence incorrect: " + nmea1);
Assert.AreEqual(true, sent2.IsValid, "PRTI02 NMEA sentence incorrect: " + nmea2);
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
// Add Bottom Track data
adcpData.AddBottomTrackData(sent1);
adcpData.BottomTrackData.AddAdditionalBottomTrackData(sent2);
Assert.AreEqual(true, adcpData.IsBottomTrackAvail, "Bottom Track DataSet not added");
Assert.AreEqual(new DotSpatial.Positioning.Distance("79380 mm").ToMeters().Value, adcpData.BottomTrackData.Range[0], 0.00001, "Bottom Track Range B1 incorrect");
Assert.AreEqual(new DotSpatial.Positioning.Distance("79380 mm").ToMeters().Value, adcpData.BottomTrackData.Range[1], 0.00001, "Bottom Track Range B2 incorrect");
Assert.AreEqual(new DotSpatial.Positioning.Distance("79380 mm").ToMeters().Value, adcpData.BottomTrackData.Range[2], 0.00001, "Bottom Track Range B3 incorrect");
Assert.AreEqual(new DotSpatial.Positioning.Distance("79380 mm").ToMeters().Value, adcpData.BottomTrackData.Range[3], 0.00001, "Bottom Track Range B4 incorrect");
// Instrument data
Assert.AreNotEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.InstrumentVelocity[0], "Bottom Track Instrument Velocity X incorrect");
Assert.AreNotEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.InstrumentVelocity[1], "Bottom Track Instrument Velocity Y incorrect");
Assert.AreNotEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.InstrumentVelocity[2], "Bottom Track Instrument Velocity Z incorrect");
Assert.AreEqual(0, adcpData.BottomTrackData.InstrumentVelocity[3], "Bottom Track Instrument Velocity Q incorrect");
Assert.AreEqual(Convert.ToSingle(new DotSpatial.Positioning.Speed("-1205 mm/s").ToMetersPerSecond().Value), adcpData.BottomTrackData.InstrumentVelocity[0], "Bottom Track Instrument Velocity X incorrect");
Assert.AreEqual(Convert.ToSingle(new DotSpatial.Positioning.Speed("-24 mm/s").ToMetersPerSecond().Value), adcpData.BottomTrackData.InstrumentVelocity[1], "Bottom Track Instrument Velocity Y incorrect");
Assert.AreEqual(Convert.ToSingle(new DotSpatial.Positioning.Speed("-347 mm/s").ToMetersPerSecond().Value), adcpData.BottomTrackData.InstrumentVelocity[2], "Bottom Track Instrument Velocity Z incorrect");
// Earth data
Assert.AreNotEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.EarthVelocity[0], "Bottom Track Earth Velocity East incorrect");
Assert.AreNotEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.EarthVelocity[1], "Bottom Track Earth Velocity North incorrect");
Assert.AreNotEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.EarthVelocity[2], "Bottom Track Earth Velocity Up incorrect");
Assert.AreEqual(0, adcpData.BottomTrackData.EarthVelocity[3], "Bottom Track Earth Velocity Q incorrect");
Assert.AreEqual(Convert.ToSingle(new DotSpatial.Positioning.Speed("1142 mm/s").ToMetersPerSecond().Value), adcpData.BottomTrackData.EarthVelocity[0], "Bottom Track Earth Velocity East incorrect");
Assert.AreEqual(Convert.ToSingle(new DotSpatial.Positioning.Speed("323 mm/s").ToMetersPerSecond().Value), adcpData.BottomTrackData.EarthVelocity[1], "Bottom Track Earth Velocity North incorrect");
Assert.AreEqual(Convert.ToSingle(new DotSpatial.Positioning.Speed("407 mm/s").ToMetersPerSecond().Value), adcpData.BottomTrackData.EarthVelocity[2], "Bottom Track Earth Velocity Up incorrect");
Assert.AreEqual(0000, adcpData.BottomTrackData.Status.Value, "Bottom Track Instrument Status incorrect");
Assert.AreEqual(sent1.SystemStatus.Value, adcpData.BottomTrackData.Status.Value, "Bottom Track Instrument Status incorrect");
Assert.AreEqual(sent2.SystemStatus.Value, adcpData.BottomTrackData.Status.Value, "Bottom Track Instrument Status incorrect");
}
/// <summary>
/// Create the data set using PRTI01. Then add PRTI02 to the
/// dataset. Then send the dataset.
/// </summary>
/// <param name="prti01">PRTI01 Sentence.</param>
/// <param name="prti02">PRTI02 Sentence.</param>
/// <param name="prti30">PRTI30 Sentence.</param>
/// <param name="prti31">PRTI31 Sentence.</param>
private void SendData(Prti01Sentence prti01, Prti02Sentence prti02, Prti30Sentence prti30 = null, Prti31Sentence prti31 = null)
{
// Create the dataset
DataSet.Ensemble adcpData = CreateDataSet(prti01);
adcpData.AddAdditionalBottomTrackData(prti02);
if (IsUseBtHpr)
{
if (prti30 != null)
{
adcpData.AddAdditionalAncillaryData(prti30);
adcpData.AddAdditionalBottomTrackData(prti30);
// Setup the serial number
if (adcpData.IsEnsembleAvail)
{
// Remove the temp serial number subsystem
adcpData.EnsembleData.SysSerialNumber.RemoveSubsystem(SerialNumber.DVL_Subsystem);
// Add the actual subsystem
adcpData.EnsembleData.SysSerialNumber.AddSubsystem(prti30.SubsystemConfig.SubSystem);
}
}
}
else
{
if (prti31 != null)
{
adcpData.AddAdditionalAncillaryData(prti31);
adcpData.AddAdditionalBottomTrackData(prti31);
// Setup the serial number
if (adcpData.IsEnsembleAvail)
{
// Remove the temp serial number subsystem
adcpData.EnsembleData.SysSerialNumber.RemoveSubsystem(SerialNumber.DVL_Subsystem);
// Add the actual subsystem
adcpData.EnsembleData.SysSerialNumber.AddSubsystem(prti30.SubsystemConfig.SubSystem);
}
}
}
// Combine all the messages and convert to a byte array
string adcpMesg = "";
if (prti01 != null)
{
adcpMesg += prti01.ToString();
}
if (prti02 != null)
{
adcpMesg += prti02.ToString();
}
if (prti30 != null)
{
adcpMesg += prti30.ToString();
}
if (prti31 != null)
{
adcpMesg += prti31.ToString();
}
byte[] adcpMesgBA = Encoding.ASCII.GetBytes(adcpMesg);
// Send the data set
SendData(adcpData, adcpMesgBA);
}
public void TestConstructorPrti01Sentence1()
{
string nmea = "$PRTI01,380250,8,1464,-1205,-24,-347,79380,,,,,0000*05";
// Create sentence
Prti01Sentence sent = new Prti01Sentence(nmea);
Assert.AreEqual(true, sent.IsValid, "NMEA sentence incorrect");
// Create dataset
DataSet.Ensemble adcpData = new DataSet.Ensemble();
// Add Bottom Track data
adcpData.AddBottomTrackData(sent);
Assert.AreEqual(true, adcpData.IsBottomTrackAvail, "Bottom Track DataSet not added");
Assert.AreEqual(new DotSpatial.Positioning.Distance("79380 mm").ToMeters().Value, adcpData.BottomTrackData.Range[0], 0.00001, "Bottom Track Range B1 incorrect");
Assert.AreEqual(new DotSpatial.Positioning.Distance("79380 mm").ToMeters().Value, adcpData.BottomTrackData.Range[1], 0.00001, "Bottom Track Range B2 incorrect");
Assert.AreEqual(new DotSpatial.Positioning.Distance("79380 mm").ToMeters().Value, adcpData.BottomTrackData.Range[2], 0.00001, "Bottom Track Range B3 incorrect");
Assert.AreEqual(new DotSpatial.Positioning.Distance("79380 mm").ToMeters().Value, adcpData.BottomTrackData.Range[3], 0.00001, "Bottom Track Range B4 incorrect");
Assert.AreNotEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.InstrumentVelocity[0], "Bottom Track Instrument Velocity X incorrect");
Assert.AreNotEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.InstrumentVelocity[1], "Bottom Track Instrument Velocity Y incorrect");
Assert.AreNotEqual(DataSet.Ensemble.BAD_VELOCITY, adcpData.BottomTrackData.InstrumentVelocity[2], "Bottom Track Instrument Velocity Z incorrect");
Assert.AreEqual(0, adcpData.BottomTrackData.InstrumentVelocity[3], "Bottom Track Instrument Velocity Q incorrect");
Assert.AreEqual(Convert.ToSingle(new DotSpatial.Positioning.Speed("-1205 mm/s").ToMetersPerSecond().Value), adcpData.BottomTrackData.InstrumentVelocity[0], "Bottom Track Instrument Velocity X incorrect");
Assert.AreEqual(Convert.ToSingle(new DotSpatial.Positioning.Speed("-24 mm/s").ToMetersPerSecond().Value), adcpData.BottomTrackData.InstrumentVelocity[1], "Bottom Track Instrument Velocity Y incorrect");
Assert.AreEqual(Convert.ToSingle(new DotSpatial.Positioning.Speed("-347 mm/s").ToMetersPerSecond().Value), adcpData.BottomTrackData.InstrumentVelocity[2], "Bottom Track Instrument Velocity Z incorrect");
Assert.AreEqual(0000, adcpData.BottomTrackData.Status.Value, "Bottom Track Instrument Status incorrect");
Assert.AreEqual(sent.SystemStatus.Value, adcpData.BottomTrackData.Status.Value, "Bottom Track Instrument Status incorrect");
}
/// <summary>
/// Process the valid NMEA sentence. Check which
/// type of DVL message it is and create the data set.
/// Then send the data set to the CurrentDataSetManager.
/// </summary>
/// <param name="sentence">Sentence to process.</param>
private void ProcessSentence(NmeaSentence sentence)
{
// Check for PRTI01
if (sentence.CommandWord.EndsWith(RTI.Prti01Sentence.CMD_WORD_PRTI01, StringComparison.Ordinal))
{
// Check if the previous PRTI01 was used
// If it was not used, send the data
if (_prti01 != null)
{
SendData(_prti01);
_prti01 = null;
}
// Store the sentence to be combined with PRTI02
_prti01 = new Prti01Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
// Check for PRTI02
else if (sentence.CommandWord.EndsWith(RTI.Prti02Sentence.CMD_WORD_PRTI02, StringComparison.Ordinal))
{
Prti02Sentence prti02 = new Prti02Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
// Check if the PRTI01 and PRTI02 match
// If they match, combine and send
// If they do not match, send PRTI02
if (_prti01 != null && _prti01.SampleNumber == prti02.SampleNumber)
{
SendData(_prti01, prti02, _prti30, _prti31);
_prti01 = null;
}
else
{
SendData(prti02);
}
}
// Check for PRTI03
else if (sentence.CommandWord.EndsWith(RTI.Prti03Sentence.CMD_WORD_PRTI03, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI02
Prti03Sentence prti03 = new Prti03Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
SendData(prti03);
}
// Check for PRTI30
else if (sentence.CommandWord.EndsWith(RTI.Prti30Sentence.CMD_WORD_PRTI30, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI01 and PRTI02
_prti30 = new Prti30Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
// Check for PRTI31
else if (sentence.CommandWord.EndsWith(RTI.Prti31Sentence.CMD_WORD_PRTI31, StringComparison.Ordinal))
{
// Store the sentence to be combined with PRTI01 and PRTI02
_prti31 = new Prti31Sentence(sentence.Sentence, sentence.CommandWord, sentence.Words, sentence.ExistingChecksum);
}
else
{
// If the data was nether PRTI01 or PRTI02, then it must be GPS NMEA data and add it
// to the NMEA buffer to be processed with a complete dataset
AddNmeaData(sentence.Sentence + NMEA_END);
}
// Reset the incoming data timeout
_incomingDataTimeout = 0;
}