private void OnRMCSentence(int sourceID, TalkerIdentifiers talkerID, object[] parameters)
{
if (RMCSentenceReceived != null)
{
DateTime tStamp = parameters[0] == null ? DateTime.MinValue : (DateTime)parameters[0];
var latitude = doubleNullChecker(parameters[2]);
var longitude = doubleNullChecker(parameters[4]);
var groundSpeed = doubleNullChecker(parameters[6]);
var courseOverGround = doubleNullChecker(parameters[7]);
DateTime dateTime = parameters[8] == null ? DateTime.MinValue : (DateTime)parameters[8];
var magneticVariation = doubleNullChecker(parameters[9]);
bool isValid = (parameters[1].ToString() != "Invalid") &&
(!double.IsNaN(latitude)) && latitude.IsValidLatDeg() &&
(!double.IsNaN(longitude)) && longitude.IsValidLonDeg() &&
(!double.IsNaN(groundSpeed)) &&
//(!double.IsNaN(courseOverGround)) &&
(parameters[11].ToString() != "N");
if (isValid)
{
dateTime = dateTime.AddHours(tStamp.Hour);
dateTime = dateTime.AddMinutes(tStamp.Minute);
dateTime = dateTime.AddSeconds(tStamp.Second);
dateTime = dateTime.AddMilliseconds(tStamp.Millisecond);
groundSpeed = 3.6 * NMEAParser.Bend2MpS(groundSpeed);
if (parameters[3].ToString() == "S")
{
latitude = -latitude;
}
if (parameters[5].ToString() == "W")
{
longitude = -longitude;
}
}
RMCSentenceReceived.Rise(this, new RMCMessageEventArgs(sourceID, talkerID, dateTime, latitude, longitude, groundSpeed, courseOverGround, magneticVariation, isValid));
}
}
public override void ProcessIncoming(NMEASentence sentence)
{
if (sentence is NMEAStandartSentence)
{
NMEAStandartSentence nSentence = (sentence as NMEAStandartSentence);
if (detected)
{
ResetTimer();
}
if (nSentence.SentenceID == SentenceIdentifiers.HDT)
{
if (!detected)
{
detected = true;
}
double hdn = O2D(nSentence.parameters[0]);
if (!double.IsNaN(hdn))
{
Heading = hdn;
HeadingUpdated.Rise(this, new EventArgs());
}
}
else if (nSentence.SentenceID == SentenceIdentifiers.RMC)
{
if (!detected)
{
detected = true;
}
DateTime tStamp = nSentence.parameters[0] == null ? DateTime.MinValue : (DateTime)nSentence.parameters[0];
var latitude = O2D(nSentence.parameters[2]);
var longitude = O2D(nSentence.parameters[4]);
var groundSpeed = O2D(nSentence.parameters[6]);
var courseOverGround = O2D(nSentence.parameters[7]);
DateTime dateTime = nSentence.parameters[8] == null ? DateTime.MinValue : (DateTime)nSentence.parameters[8];
bool isValid = (nSentence.parameters[1].ToString() != "Invalid") &&
(!double.IsNaN(latitude)) && latitude.IsValidLatDeg() &&
(!double.IsNaN(longitude)) && longitude.IsValidLonDeg() &&
(!double.IsNaN(groundSpeed)) &&
(nSentence.parameters[11].ToString() != "N");
if (isValid)
{
dateTime = dateTime.AddHours(tStamp.Hour);
dateTime = dateTime.AddMinutes(tStamp.Minute);
dateTime = dateTime.AddSeconds(tStamp.Second);
dateTime = dateTime.AddMilliseconds(tStamp.Millisecond);
groundSpeed = 3.6 * NMEAParser.Bend2MpS(groundSpeed);
if (nSentence.parameters[3].ToString() == "S")
{
latitude = -latitude;
}
if (nSentence.parameters[5].ToString() == "W")
{
longitude = -longitude;
}
Latitude = latitude;
Longitude = longitude;
GroundSpeed = groundSpeed;
CourseOverGround = courseOverGround;
GNSSTime = dateTime;
LocationUpdated.Rise(this, new EventArgs());
}
}
}
}