/// <summary>
/// Create the data set using PRTI03.
/// Then send the dataset.
/// </summary>
/// <param name="sentence">PRTI03 Sentence.</param>
private void SendData(Prti03Sentence sentence)
{
// Create the dataset
DataSet.Ensemble adcpData = CreateDataSet(sentence);
// Send the data set
SendData(adcpData, sentence.ToByteArray());
}
/// <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(Prti03Sentence 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>
/// Create the data set using PRTI03.
/// Then send the dataset.
/// </summary>
/// <param name="sentence">PRTI03 Sentence.</param>
private void SendData(Prti03Sentence sentence)
{
// Create the dataset
DataSet.Ensemble adcpData = CreateDataSet(sentence);
// Send the data set
SendData(adcpData, sentence.ToByteArray());
}
/// <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 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(Prti03Sentence 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>
/// 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;
}
/// <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);
}
