system_controller: C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/GPSModule/GgaStrategy.cs Source File

00001 using System;
00002 using System.Collections.Generic;
00003 using System.Linq;
00004 using System.Text;
00005 
00006 namespace GpsModule {
00007         public class GgaStrategy {
00008 
00009                 public delegate void updateErrorEventHandler(Exception error);
00010                 public event updateErrorEventHandler updateErrorEvent;
00011 
00012                 GgaData _data;
00013                 public GgaData Data {
00014                         get { return _data; }
00015                 }
00016 
00017                 public GgaStrategy() {
00018                         _data = new GgaData();
00019                 }
00020 
00021                 public void parseSentance(string sentence) {
00022                         try {
00023                                 _data.setSentance(sentence);
00024                                 //1) Time (UTC)
00025                                 sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00026                                 string s = sentence.Substring(0, sentence.IndexOf(","));
00027                                 int hour;
00028                                 int.TryParse(s.Substring(0, 2), out hour);
00029                                 int minute;
00030                                 int.TryParse(s.Substring(2, 2), out minute);
00031                                 int second;
00032                                 int.TryParse(s.Substring(4, 2), out second);
00033                                 //2) Latitude
00034                                 sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00035                                 _data.setLatitude(sentence.Substring(0, sentence.IndexOf(",")));
00036                                 //3) N or S (North or South)
00037                                 sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00038                                 _data.setNorthOrSouth(sentence.Substring(0, sentence.IndexOf(","))[0]);
00039                                 //4) Longitude
00040                                 sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00041                                 _data.setLongitude((sentence.Substring(0, sentence.IndexOf(","))));
00042                                 //5) E or W (East or West)
00043                                 sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00044                                 _data.setEastOrWest(sentence.Substring(0, sentence.IndexOf(","))[0]);
00045                                 //6) GPS Quality Indicator, 0 - fix not available, 1 - GPS fix, 2 - Differential GPS fix
00046                                 sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00047                                 _data.setQualityIndicator(int.Parse(sentence.Substring(0, sentence.IndexOf(","))));
00048                                 //if fix not available dont do anything else
00049                                 if (_data.QualityIndicator > 0) {
00050                                         //7) Number of satellites in view, 00 - 12
00051                                         sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00052                                         _data.setSatelitesInView(int.Parse(sentence.Substring(0, sentence.IndexOf(","))));
00053                                         //8) Horizontal Dilution of precision
00054                                         sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00055                                         _data.setHorizontalDilutionOfPrecision(double.Parse(sentence.Substring(0, sentence.IndexOf(","))));
00056                                         //9) Antenna Altitude above/below mean-sea-level (geoid)
00057                                         sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00058                                         _data.setAntennaAltitude(double.Parse(sentence.Substring(0, sentence.IndexOf(","))));
00059                                         //10) Units of antenna altitude, meters
00060                                         sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00061                                         _data.setUnitsOfGeoidalSeperation(sentence.Substring(0, sentence.IndexOf(","))[0]);
00062                                         //11) Geoidal separation, the difference between the WGS-84 
00063                                         //earth ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below ellipsoid
00064                                         sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00065                                         _data.setGeoidalSeparation(double.Parse(sentence.Substring(0, sentence.IndexOf(","))));
00066                                         //12) Units of geoidal separation, meters
00067                                         sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00068                                         _data.setUnitsOfAntennaAltitude(sentence.Substring(0, sentence.IndexOf(","))[0]);
00069                                         //13) Age of differential GPS data, time in seconds since last SC104
00070                                         //type 1 or 9 update, null field when DGPS is not used
00071                                         sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00072                                         //_data.setAgeOfDifferentialGPSData(double.Parse(sentence.Substring(0, sentence.IndexOf(","))));
00073                                         //14) Differential reference station ID, 0000-1023
00074                                         sentence = sentence.Substring(sentence.IndexOf(",") + 1, sentence.Length - sentence.IndexOf(",") - 1);
00075                                         //_data.setDifferentialReferenceStationID(int.Parse(sentence.Substring(0, sentence.IndexOf("*"))));
00076                                         //15) Checksum
00077                                         sentence = sentence.Substring(sentence.IndexOf("*") + 1, sentence.Length - sentence.IndexOf("*") - 1);
00078                                         //_checksum = sentence.Substring(0, sentence.Length);
00079                                 }
00080                                 //set the time
00081                                 _data.setTime(new DateTime(DateTime.Now.Year, DateTime.Now.Month
00082                                         , DateTime.Now.Day, hour, minute, second, DateTimeKind.Utc));
00083                         } catch (Exception e) {
00084                                 if (updateErrorEvent != null)
00085                                         updateErrorEvent.Invoke(e);
00086                         }
00087                 }
00088         }
00089 }