private void OnSystemUpdate()
{
systemUpdateTS = 0;
SystemUpdateEvent.Rise(this, new EventArgs());
}
private void pCore_RadialErrorExeedsThresholdEventHandler(object sender, EventArgs e)
{
IsRadialErrorExeedsThreshold = true;
SystemUpdateEvent.Rise(this, new EventArgs());
}
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>();
}
