// send, wait for response and return received packet:
public MPacketReceived Transact(MPacket packet)
{
string str = packet.ToString();
MPacketReceived packetIn = new MPacketReceived();
m_physLayer.Transact(str, packetIn);
return(packetIn);
}
// this is a "class packet" factory which converts received packets into usable classes
// (packet classes defined in MagellanProtoDef.cs). We assume that basicParse() was run
// on this packet before calling fromString()
public MPacket fromString()
{
MPacket ret = null;
if (m_string == null)
{
logError("MPacketReceived:fromString() -- m_string==null");
return(ret);
}
switch (m_header)
{
case "PMGNVER":
ret = this; // all we need is already in fields array
break;
case "PMGNRTE":
// $PMGNRTE,14,2,c,1,T01P03,a,T01P04,a*35
case "PMGNTRK":
// $PMGNTRK,3334.530,N,11739.837,W,00000,M,034414.24,A*62
case "PMGNWPL":
// $PMGNWPL,3328.069,N,11738.812,W,0000000,M,Road to,GCF320 = Road to Wat,a*68
ret = this; // all we need is already in fields array
break;
case "PMGNST":
case "GPGSV":
case "GPGGA":
case "GPRMC":
case "GPGLL":
ret = this; // all we need is already in fields array
break;
default:
logError("MPacketReceived:fromString() -- unknown header=" + m_header);
ret = this; // may be all we need is already in fields array
break;
}
return(ret);
}
public void StartRealTime(GpsRealTimeHandler realtimeCallback)
{
int total = 0;
int maxErrors = 5;
int errors = maxErrors;
bool finished = false;
m_stopRealTime = false;
while (!finished && !m_stopRealTime)
{
GpsRealTimeData pvtData = new GpsRealTimeData(); // will be returned empty if no data
MPacketReceived received = null;
try
{
received = m_linkLayer.ReceivePacket();
if (!received.isGood)
{
m_linkLayer.logError("StartRealTime: bad packet received, count=" + total);
pvtData.comment = "bad data packet from GPS";
realtimeCallback(pvtData);
continue;
}
}
catch (Exception e)
{
m_linkLayer.logError("StartRealTime: " + e.Message + " count=" + total);
//if(received != null)
{
try
{
m_linkLayer.ReOpen();
}
catch (Exception ee)
{
m_linkLayer.logError("while ReOpen(): " + ee.Message);
}
}
pvtData.comment = e.Message.StartsWith("Timeout") ?
"GPS not responding - check cable" : ("error: " + e.Message);
realtimeCallback(pvtData);
continue;
}
//m_linkLayer.log("" + total + " === " + received);
m_linkLayer.log("StartRealTime: good packet received, count=" + total + " " + received);
if (received.header.EndsWith("GGA")) // NMEA GGA expected for location
{
m_linkLayer.log("StartRealTime: " + received.header + " packet received, count=" + total + " content=" + received);
try
{
MPacket pvt = received.fromString();
/*
* $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
*
* Where:
* GGA Global Positioning System Fix Data
* 0 123519 Fix taken at 12:35:19 UTC
* 1 4807.038,N Latitude 48 deg 07.038' N
* 3 01131.000,E Longitude 11 deg 31.000' E
* 5 1 Fix quality: 0 = invalid
* 1 = GPS fix
* 2 = DGPS fix
* 6 = estimated (2.3 feature)
* 6 08 Number of satellites being tracked
* 7 0.9 Horizontal dilution of position
* 8 545.4,M Altitude, Meters, above mean sea level
* 10 46.9,M Height of geoid (mean sea level) above WGS84
* ellipsoid
* 12 (empty field) time in seconds since last DGPS update
* 13 (empty field) DGPS station ID number
* 47 the checksum data, always begins with *
*/
double Lat = pvt.parseLat(1);
double Lng = pvt.parseLng(1);
double Elev = pvt.parseElev(8); // alt above mean sea level
pvtData.location = new GeoCoord(Lng, Lat, Elev);
//m_linkLayer.log("coord=" + pvtData.location);
// time component:
pvtData.time = pvt.parseNmeaTime(0, Project.localToZulu(DateTime.Now)); // UTC
// errors and velocity:
pvtData.posError = 0;
pvtData.posErrorH = 0;
pvtData.posErrorV = 0;
pvtData.fix = 0; // failed integrity check
switch ((string)pvt.fields[5])
{
case "0": // invalid
pvtData.fix = 1; // invalid
break;
case "1": // GPS fix
pvtData.fix = 2; // two dimensional
break;
case "2": // DGPS fix
pvtData.fix = 4; // two dimensional differential
break;
case "6": // estimated
pvtData.fix = 6; // estimated
break;
}
pvtData.velocityEast = 0;
pvtData.velocityNorth = 0;
pvtData.velocityUp = 0;
pvtData.comment = "received " + received.header;
//realtimeCallback(pvtData);
total++;
errors = maxErrors;
}
catch (Exception ee)
{
m_linkLayer.logError("StartRealTime: " + ee.Message);
}
}
else if (received.header.EndsWith("RMC")) // NMEA RMC may come
{
m_linkLayer.log("StartRealTime: " + received.header + " packet received, count=" + total + " content=" + received);
try
{
MPacket pvt = received.fromString();
// $GPRMC,052458.73,V,3334.6441,N,11739.6622,W,00.0,000.0,290103,13,E*4F
/*
* see http://www.gpsinformation.org/dale/nmea.htm for NMEA reference
*
* RMC - NMEA has its own version of essential gps pvt (position, velocity, time) data.
* It is called RMC, The Recommended Minimum, which might look like:
*
* $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
* $GPRMC,050821.000,A,3334.5551,N,11739.7705,W,0.00,,251006,,,A*67
*
* Where:
* RMC Recommended Minimum sentence C
* 0 123519 Fix taken at 12:35:19 UTC
* 1 A Status A=active or V=Void.
* 2 4807.038,N Latitude 48 deg 07.038' N
* 4 01131.000,E Longitude 11 deg 31.000' E
* 6 022.4 Speed over the ground in knots
* 7 084.4 Track angle in degrees True
* 8 230394 Date - 23rd of March 1994
* 9 003.1,W Magnetic Variation
* 6A The checksum data, always begins with *
*
* Note that, as of the 2.3 release of NMEA, there is a new field in the RMC sentence
* at the end just prior to the checksum. The value of the entry is
* A=autonomous, D=differential, E=estimated, N=Data not valid.
*/
bool status = "A".Equals(pvt.fields[1]);
if (status)
{
double Lat = pvt.parseLat(2);
double Lng = pvt.parseLng(2);
double Elev = 0.0d;
pvtData.location = new GeoCoord(Lng, Lat, Elev);
//m_linkLayer.log("coord=" + pvtData.location);
// time component (only time part):
pvtData.time = pvt.parseNmeaDateTime(0, 8); // UTC
if (!"".Equals(pvt.fields[6]))
{
double knots = Convert.ToDouble(pvt.fields[6]);
pvtData.velocity = knots * Distance.METERS_PER_NAUTICAL_MILE / 3600.0d;
// calculate velocity vector based on track angle:
if (!"".Equals(pvt.fields[7]))
{
double trackAngleRad = Convert.ToDouble(pvt.fields[7]) * Math.PI / 180.0d;
pvtData.velocityNorth = pvtData.velocity * Math.Cos(trackAngleRad);
pvtData.velocityEast = pvtData.velocity * Math.Sin(trackAngleRad);
}
}
pvtData.fix = 2; // assume two-dimensional
pvtData.comment = "received " + received.header;
realtimeCallback(pvtData);
}
total++;
errors = maxErrors;
}
catch (Exception ee)
{
m_linkLayer.logError("StartRealTime: " + ee.Message);
}
}
else if (received.header.EndsWith("GLL")) // NMEA GLL may come
{
m_linkLayer.log("StartRealTime: GLL packet received, count=" + total + " content=" + received);
try
{
MPacket pvt = received.fromString();
// $GPGLL,3334.6464,N,11739.6583,W,052707.129,A*29
/*
* see http://www.gpsinformation.org/dale/nmea.htm for NMEA reference
*
* GLL - Geographic Latitude and Longitude is a holdover from Loran data and some old units
* may not send the time and data valid information if they are emulating Loran data.
* If a gps is emulating Loran data they may use the LC Loran prefix instead of GP.
*
* $GPGLL,4916.45,N,12311.12,W,225444,A,*31
*
* Where:
* GLL Geographic position, Latitude and Longitude
* 0 4916.46,N Latitude 49 deg. 16.45 min. North
* 2 12311.12,W Longitude 123 deg. 11.12 min. West
* 4 225444 Fix taken at 22:54:44 UTC
* 5 A Data valid or V (void)
* 31 checksum data
*
*/
bool status = "A".Equals(pvt.fields[5]);
if (status)
{
double Lat = pvt.parseLat(0);
double Lng = pvt.parseLng(0);
double Elev = 0.0d;
pvtData.location = new GeoCoord(Lng, Lat, Elev);
//m_linkLayer.log("coord=" + pvtData.location);
// time component (only time part):
pvtData.time = pvt.parseNmeaTime(4, Project.localToZulu(DateTime.Now)); // UTC
pvtData.fix = 2; // assume two-dimensional
pvtData.comment = "received " + received.header;
//realtimeCallback(pvtData);
}
total++;
errors = maxErrors;
}
catch (Exception ee)
{
m_linkLayer.logError("StartRealTime: " + ee.Message);
}
}
else if (received.header.EndsWith("GSV")) // NMEA GSV may come for satellite reception status
{
m_linkLayer.log("StartRealTime: GSV packet received, count=" + total + " content=" + received);
/*
* see http://www.gpsinformation.org/dale/nmea.htm for NMEA reference
*
* $GPGSV,3,1,08,14,69,204,,15,57,105,36,18,45,047,36,03,42,263,36*71
* $GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75
*
* Where:
* GSV Satellites in view
* 0 2 Number of sentences for full data
* 1 1 sentence 1 of 2
* 2 08 Number of satellites in view
* for up to 4 satellites per sentence {
* 3 01 Satellite PRN number
* 4 40 Elevation, degrees
* 5 083 Azimuth, degrees
* 6 46 Signal strength - higher is better
* }
* 75 the checksum data, always begins with *
*/
//MPacket pvt = received.fromString();
//pvtData.comment = "received";
//realtimeCallback(pvtData);
total++;
errors = maxErrors;
}
else if (received.header.EndsWith("VTG")) // NMEA GSA may come
{
m_linkLayer.log("StartRealTime: GPVTG packet received, count=" + total + " content=" + received);
// $GPVTG,309.62,T,,M,0.13,N,0.2,K*6E
/*
* VTG - Course Over Ground and Ground Speed
*
* Name Example Units Description
* Message ID $GPVTG VTG protocol header
* Course 309.62 degrees Measured heading
* Reference T True
* Course degrees Measured heading
* Reference M Magnetic
* Speed 0.13 knots Measured horizontal speed
* Units N Knots
* Speed 0.2 Km/hr Measured horizontal speed
* Units K Kilometers per hour
*/
}
else if (received.header.EndsWith("GSA")) // NMEA GSA may come
{
m_linkLayer.log("StartRealTime: GPGSA packet received, count=" + total + " content=" + received);
// $GPGSA,A,2,15,18,14,31,,,,,,,,,05.6,05.6,*17
/*
* see http://www.gpsinformation.org/dale/nmea.htm for NMEA reference
*
* GSA - GPS DOP and active satellites. This sentence provides details on the nature of the
* fix. It includes the numbers of the satellites being used in the current solution and
* the DOP. DOP (dilution of precision) is an indication of the effect of satellite geometry
* on the accuracy of the fix. It is a unitless number where smaller is better. For 3D fixes
* using 4 satellites a 1.0 would be considered to be a perfect number. For overdetermined
* solutions it is possible to see numbers below 1.0. There are differences in the way the
* PRN's are presented which can effect the ability of some programs to display this data.
* For example, in the example shown below there are 5 satellites in the solution and
* the null fields are scattered indicating that the almanac would show satellites in
* the null positions that are not being used as part of this solution. Other receivers
* might output all of the satellites used at the beginning of the sentence with the
* null field all stacked up at the end. This difference accounts for some satellite
* display programs not always being able to display the satellites being tracked.
*
* $GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39
*
* Where:
* GSA Satellite status
* A Auto selection of 2D or 3D fix (M = manual)
* 3 3D fix - other values include: 1 = no fix
* 2 = 2D fix
* 04,05... PRNs of satellites used for fix (space for 12)
* 2.5 PDOP (dilution of precision)
* 1.3 Horizontal dilution of precision (HDOP)
* 2.1 Vertical dilution of precision (VDOP)
* 39 the checksum data, always begins with *
*
*/
}
else
{
m_linkLayer.log("StartRealTime: good other (unrecognized) packet received, count=" + total + " content=" + received);
}
} // end while()
m_linkLayer.log("StartRealTime: finished receiving fixes count=" + total);
}
// send, wait for response and return received packet:
public MPacketReceived Transact(MPacket packet)
{
string str = packet.ToString();
MPacketReceived packetIn = new MPacketReceived();
m_physLayer.Transact(str, packetIn);
return packetIn;
}
public void SendPacket(MPacket packet)
{
string str = packet.ToString(); // also makes sure all fields are clean of wrong symbols like ","
m_physLayer.Send(str);
}
public void SendPacket(MPacket packet)
{
string str = packet.ToString();
m_physLayer.Send(str);
}
public void SendPacket(MPacket packet)
{
string str = packet.ToString();
m_physLayer.Send(str);
}
public void PutWaypoints(ArrayList waypoints, GpsProgressHandler progressCallback)
{
int count = 0;
int toSend = waypoints.Count;
int maxErrors = 5;
int errors = maxErrors;
int toTrim = 40;
//m_linkLayer.SetHandshake(Project.gpsMagellanHandshake);
m_linkLayer.SetHandshake(true); // safer with handshake on
m_linkLayer.SetTransferMode(true);
foreach(Waypoint wpt in waypoints)
{
// send toSend MPacket's, followed by PMGNCMD
try
{
MPacket packetToSend = new MPacket("PMGNWPL");
// $PMGNWPL,3339.889,N,11736.283,W,0000155,M,WPT001,this is comment,a*7E
packetToSend.packCoord(wpt.Location); // adds 6 fields to array
//string name = wpt.WptName;
string name = puttingRoute ? (wpt.WptName.Length > 0 ? wpt.WptName : wpt.Name) : wpt.WptName;
string desc = wpt.Desc.Length > 0 ? wpt.Desc : wpt.UrlName;
if(!puttingRoute)
{
// keep it in sync with GarminProtoLinkProtocols:sendWaypoint()
if(Project.gpsWptDescrAsName)
{
string _desc = desc;
if(wpt.LiveObjectType == LiveObjectTypes.LiveObjectTypeGeocache && name.StartsWith("GC"))
{
desc = name + " = " + desc;
}
if(_desc.Length > 0)
{
name = _desc;
}
}
// end sync
name = name.Length > 12 ? name.Substring(0, 12) : name;
}
desc = desc.Length > toTrim ? desc.Substring(0, toTrim) : desc;
packetToSend.fields.Add(name); // name - truncated in GPS
packetToSend.fields.Add(desc); // comment has more characters in GPS
string icon = wpt.Found ? "b" : "a";
packetToSend.fields.Add(icon); // icon - "crossed box"=a or "box in the box"=b
// link layer will make sure all fields are clean of wrong symbols like ","
m_linkLayer.SendPacket(packetToSend);
count++;
if(count % 10 == 0)
{
progressCallback("IP: downloading to GPS - waypoint ", count, toSend);
}
}
catch (Exception e)
{
m_linkLayer.logError("PutWaypoints: " + e.Message + " count=" + count);
if(errors-- > 0)
{
// on timeout, try continue sending and bail out after too many failures
continue;
}
else
{
m_linkLayer.logError("PutWaypoints: too many errors, stopping transfer");
throw(e);
}
}
}
m_linkLayer.SendPacket(new MPacketCmd("END"));
if(!puttingRoute)
{
m_linkLayer.SetTransferMode(false);
}
progressCallback("OK: downloaded to GPS - waypoints", count, toSend);
m_linkLayer.log("OK: downloaded to GPS - waypoints: " + count);
}
public void PutRoutes(ArrayList routes, GpsProgressHandler progressCallback, int startRouteNumber)
{
// here is a problem: the SporTrack will reject routes which have same waypoint repeating twice on one leg.
// the waypoint can repeat in the route many times, if separated by other waypoints.
// rejection happens in the form of "UNABLE" response on the physical layer, m_linkLayer.ErrorCount() shows that.
// the condition should not happen, as it is cleared during creation of the routes in LayerWaypoints.cs
// we need to send all waypoints for all routes first, and then send linking info.
m_linkLayer.resetErrorCount();
// make list of relevant waypoints and count them
ArrayList trkptsToSend = new ArrayList();
int toSendWpt = 0; // for ProgressCallback
int toSendPkt = 0;
int routeNumber = startRouteNumber; // 1 to 20
foreach(Track route in routes)
{
if(route.isRoute)
{
int cnt = 0;
Waypoint prevWpt = null;
for(int i=0; i < route.Trackpoints.Count ;i++)
{
Waypoint trkpt = (Waypoint)route.Trackpoints.GetByIndex(i);
if(prevWpt == null || !prevWpt.Location.almostAs(trkpt.Location, 0.0002)) // 0.0001 degree = 10 meters
{
Waypoint cloneTrkpt = new Waypoint(trkpt);
string trkptName = toTptName(routeNumber, trkpt.Name); // use .Name here, as WptName is empty for rtept's
cloneTrkpt.WptName = truncateName(trkptName);
cloneTrkpt.Desc = trkptName;
trkptsToSend.Add(cloneTrkpt);
prevWpt = trkpt;
cnt++;
}
}
toSendPkt += (cnt + 1) / 2;
toSendWpt += cnt;
routeNumber++;
}
}
if(toSendWpt == 0)
{
progressCallback("Error: no routes to upload ", 0, 0);
return;
}
puttingRoute = true;
PutWaypoints(trkptsToSend, progressCallback); // will leave TransferMode
puttingRoute = false;
int count = 0;
int maxErrors = 5;
int errors = maxErrors;
int maxRoutepointCount = 0;
string maxRoutepointName = "";
routeNumber = startRouteNumber;
foreach(Track route in routes)
{
if(route.isRoute)
{
// make a temp list of trackpoints - specifically for this route, and count them:
ArrayList trackpoints = new ArrayList();
foreach(Waypoint wpt in trkptsToSend)
{
if(wpt.TrackId == route.Id)
{
trackpoints.Add(wpt);
}
}
int toSendThisRoute = (trackpoints.Count + 1) / 2;
if(trackpoints.Count > maxRoutepointCount)
{
maxRoutepointCount = trackpoints.Count;
maxRoutepointName = route.Name;
}
int countThisRoute = 1;
for(int i=0; i < trackpoints.Count ;i+=2)
{
int numPoints = (trackpoints.Count - i > 1) ? 2 : 1;
Waypoint trkpt1 = (Waypoint)trackpoints[i];
string trkptName1 = trkpt1.WptName.Trim();
Waypoint trkpt2 = numPoints > 1 ? (Waypoint)trackpoints[i + 1] : null;
string trkptName2 = numPoints > 1 ? trkpt2.WptName.Trim() : "";
// send MPackets, followed by PMGNCMD
try
{
MPacket packetToSend = new MPacket("PMGNRTE");
// $PMGNRTE,15,5,c,2,T02P09,a,T02P10,a*3F
packetToSend.fields.Add("" + toSendThisRoute);
packetToSend.fields.Add("" + countThisRoute);
packetToSend.fields.Add("c");
packetToSend.fields.Add("" + routeNumber);
packetToSend.fields.Add(trkptName1);
packetToSend.fields.Add("a");
if(numPoints > 1)
{
packetToSend.fields.Add(trkptName2);
packetToSend.fields.Add("a");
}
m_linkLayer.SendPacket(packetToSend);
countThisRoute++;
count++;
if(count % 10 == 0)
{
progressCallback("IP: downloading to GPS - route packet ", count, toSendPkt);
}
}
catch (Exception e)
{
m_linkLayer.logError("PutRoutes: " + e.Message + " count=" + count);
if(errors-- > 0)
{
// on timeout, try continue sending and bail out after too many failures
continue;
}
else
{
m_linkLayer.logError("PutRoutes: too many errors, stopping transfer");
throw(e);
}
}
}
routeNumber++;
}
}
m_linkLayer.SendPacket(new MPacketCmd("END"));
m_linkLayer.SetTransferMode(false);
if(m_linkLayer.ErrorCount() > 0)
{
// caught some packets with "UNABLE" response.
progressCallback("Errors: " + m_linkLayer.ErrorCount() + " out of route packets: ", count, toSendPkt);
Project.ErrorBox(Project.mainCommand.gpsManagerForm(), "Route '" + maxRoutepointName + "' (" + maxRoutepointCount
+ " route points after combing) failed to load, possibly due to 30 legs-per-route limitation of the Magellan devices."
+ "\n\nYou can break the route into smaller ones, or remove some mid-route points."
+ "\nAlternatively you can try clearing waypoints/routes memory in the device.");
}
else
{
progressCallback("OK: downloaded to GPS - route packets", count, toSendPkt);
}
m_linkLayer.log("OK: downloaded to GPS - route packets: " + count + " errors: " + m_linkLayer.ErrorCount());
}
public void SendPacket(MPacket packet)
{
string str = packet.ToString(); // also makes sure all fields are clean of wrong symbols like ","
m_physLayer.Send(str);
}
