public IndexData(DateTime packetTimeStamp, DateTime internalTimeStamp, long position, String nmea)
{
this.PacketTimeStamp = packetTimeStamp;
this.Nmea = VelodyneNmeaPacket.Parse(nmea);
this.InternalTimeStamp = internalTimeStamp;
this.Position = position;
}
public static VelodyneNmeaPacket ReadRecordNMEA(byte[] packet)
{
int i = 42 + 198;
double ts = BitConverter.ToUInt32(new byte[] { packet[i], packet[i + 1], packet[i + 2], packet[i + 3] }, 0) / 1000000.00;
i = i + 8;
byte[] nmeaMessageArray = new byte[75];
for (int j = 0; j < 75; j++)
{
nmeaMessageArray[j] = packet[i + j];
}
String nmeaStr = System.Text.Encoding.ASCII.GetString(nmeaMessageArray);
VelodyneNmeaPacket nmeaPacket = VelodyneNmeaPacket.Parse(nmeaStr);
return(nmeaPacket);
}