gps.cs

Opennet 发送和接受程序,可用于移动存储设备的开发,请好好查看

				comport=value;
			}
		}

		public Serial.BaudRates BaudRate
		{
			set
			{
				baudrate=value;
			}
		}
		public Serial.BaudRates MaxBaudRate
		{
			set
			{
				maxbaudrate=value;
			}
			get
			{
				return maxbaudrate;
			}
		}
		public Serial.BaudRates MinBaudRate
		{
			set
			{
				minbaudrate=value;
			}
			get
			{
				return minbaudrate;
			}
		}

		public string LastError
		{
			get
			{
				return lasterror;
			}
		}

		public Decimal HdopMaxError
		{
			set
			{
				hdopmaxerror=value;
			}
			get
			{
				return hdopmaxerror;
			}
		}

		public Decimal Hdop
		{
		get
			{
				return hdop;
			}
		}

		public Decimal Vdop
		{
			get
			{
				return vdop;
			}
		}

		public Decimal Pdop
		{
			get
			{
				return pdop;
			}
		}

		public int SatInView
		{
			get	
			{
				return nbsatinview;
			}
		}
		public Fix_Mode FixMode
		{
			get	
			{
				return fixmode;
			}
		}
		public Fix_Indicator FixIndicator
		{
			get	
			{
				return fixindicator;
			}
		}
		public Fix_Type FixType
		{
			get	
			{
				return fixtype;
			}
		}
		public Fix_TypeMode FixTypeMode
		{
			get	
			{
				return fixtypemode;
			}
		}

		// TODO : waypoint stuff - not yet fully implemented
		#region waypoint stuff - not yet fully implemented
		public Position WayPoint
		{
			get
			{
				return waypoint;
			}
			set
			{
				waypoint=value;
			}
		}

		public decimal DistanceToWayPoint
		{
			get
			{
				// HELP REQUIRED HERE - to work out distance to waypoint
				calculate_waypoint();
				return distancetowaypoint;
			}
		}
		public decimal BearingToWayPoint
		{
			
			get
			{
				// HELP REQUIRED HERE - to work out distance to waypoint
				calculate_waypoint();
				return bearingtowaypoint;
			}
		}

		public decimal CourseCorrection
		{
			
			get
			{
				// HELP REQUIRED HERE - to work out what course correction to apply to get to waypoint
				calculate_waypoint();
				return coursecorrection;
			}
		}

		#endregion
		
		#endregion

		#region private methods
		private void reset_gps_vars()
		{
			strreceived="";
			sentencecount=0;

			pos = null;
			pos = new Position();
			mov = null;
			mov = new Movement();
			satellites = null;
			lasterror="";

			distancetowaypoint=0;
			bearingtowaypoint=0;
			coursecorrection=0;
			
			InitDistance = false;

			// Position dilution of precision
			pdop=50;

			// Horizontal dilution of precision
			hdop=50;

			// Vertical dilution of precision
			hdop=50;

		}

		// loads demo data into our nmea parser
		private void load_demo_data()
		{
			if (!File.Exists(demofile))
			{
				setstate=States.Stopping;
				return;
			}
			StreamReader demostream = File.OpenText(demofile);
			string str="";
			while ((str=demostream.ReadLine()) != null && state==States.Running)
			{
				//nmea(str);
				OnDataReceived(str);
			}
			setstate=States.Stopped;
		}

		private void calculate_waypoint()
		{
			if (pos==null || waypoint==null) return;
	
			distancetowaypoint = CalculateDistance(pos,waypoint,Units.Kilometers);
			bearingtowaypoint = CalculateBearing(pos,waypoint);
			coursecorrection = bearingtowaypoint - mov.Track;
			if (coursecorrection < -180m)
				coursecorrection += 360m;
			if (coursecorrection > 180m)
				coursecorrection -= 360m;
		}

		private void run()
		{

			setstate=States.Opening;
			this.reset_gps_vars();

			DataReceived+= new DataReceivedEventHandler(GPS_DataReceived);
			if (!demomodeon)
			{
				if (this.autodiscovery)
				{
					if (!autodiscover())
					{
						setstate=States.Stopped;
						return;
					}
				}
			}

			if (!demomodeon)
			{
				if (!isconnecteddevice())
				{
					OnError(null,"Com Port "+comport+" Is Not On Device","");
					setstate=States.Stopped;
					return;
				}
				if (state!=States.AutoDiscovery)
				{
					DetailedPortSettings portSettings = new HandshakeNone(); 
					cp = new Port(comport,portSettings);
					cp.Settings.BaudRate=this.baudrate;
					cp.RThreshold=64;
					cp.InputLen=1;

					try 
					{
						cp.Open();
					}
					catch (Exception e)
					{
						OnError(e,"Could Not Open Com Port "+comport,"");
						cp.Dispose();
						setstate=States.Stopped;
						return;
					}
					cp.OnError+=new Port.CommErrorEvent(cp_OnError);
					cp.DataReceived+=new Port.CommEvent(cp_DataReceived);
				}
			}

			if (state==States.Opening || state==States.AutoDiscovery)
				setstate=States.Running;

			if (demomodeon)
			{
				load_demo_data();
			}
			else
			{
				while (state==States.Running)
				{
					Thread.Sleep(10);
				}

				if (cp.IsOpen) cp.Close();
				cp.Dispose();
				cp=null;
			}
			setstate=States.Stopped;
		}

		/// <summary>
		/// this is fired when the comport receives data
		/// </summary>
		private void cp_DataReceived()
		{
			try
			{
				if (state!=States.Running) return;
			
				string strret="";
				string strdata="";
				
				byte[] inputData;
			
				while (cp.InBufferCount > 0)
				{

					inputData = cp.Input;
					strret = Encoding.ASCII.GetString(inputData, 0,1);
					if (strret=="\n") // If newline
					{
						strdata=this.strreceived.Substring(0,strreceived.Length-1);
						//nmea(strdata);
						OnDataReceived(strdata);

						strdata="";
						strreceived="";
						if (autodiscovery==true)
						{
							setstate=States.AutoDiscovery;
						}
					}					
					else
						strreceived+=strret;	
				}
			}
			catch(Exception ex)
			{
				OnError(ex,"Error in cp_DataReceived","");
			}
		}

		/// <summary>
		/// 
		/// </summary>
		/// <param name="sender"></param>
		/// <param name="data"></param>
		private void GPS_DataReceived(object sender, string data)
		{
			nmea(data);
		}
		/// <summary>
		/// processes our string of nmea data
		/// </summary>
		/// <param name="gps_data">string of input data</param>
		/// <returns>Boolean to indicate if we were able to process string of data ok<