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MainForm.cs
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using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
using System.Globalization;
using System.IO;
using System.IO.Ports;
using System.Reflection;
using System.Text;
using System.Threading;
using System.Windows.Forms;
using UCNLDrivers;
using UCNLKML;
using UCNLNMEA;
using UCNLPhysics;
using UCNLUI.Dialogs;
namespace uWAVE_VLBL
{
public partial class MainForm : Form
{
#region Properties
NMEASerialPort uPort;
NMEASerialPort gnssEmulatorPort;
PrecisionTimer timer;
Measurements measurements;
string settingsFileName;
string logPath;
string logFileName;
string snapshotsPath;
TSLogProvider logger;
SettingsProvider<SettingsContainer> settingsProvider;
bool isAutoquery = false;
bool isAutosnapshot = false;
bool isRestart = false;
bool u_isWaiting = false;
bool u_isWaitingRemote = false;
int u_timeoutCounter = 0;
int u_remoteTimeoutCounter = 0;
int u_Timeout = 2;
int u_RemoteTimeout_S = 10;
string u_lastQuery = string.Empty;
bool u_settingsUpdated = false;
bool u_ambUpdated = false;
bool u_deviceInfoUpdated = false;
RC_CODES_Enum u_requestID = RC_CODES_Enum.RC_INVALID;
EventHandler<SerialErrorReceivedEventArgs> uPortErrorEventHandler;
EventHandler<NewNMEAMessageEventArgs> uPortNewNMEAMessageEventHandler;
EventHandler<TextAddedEventArgs> loggerTextAddedEventHandler;
EventHandler timerTickHandler;
AgingDouble bLatitude;
AgingDouble bLongitude;
AgingDouble bTemperature;
AgingDouble bDepth;
AgingDouble tTemperature;
AgingDouble tDepth;
AgingDouble bVCC;
AgingDouble bPrs;
AgingDouble tLatitude;
AgingDouble tLongitude;
AgingDouble tRadialError;
List<GeoPoint3DWE> tLocation;
GeoPoint3DWE tBestLocation;
List<GeoPoint> bLocation;
delegate T NullChecker<T>(object parameter);
NullChecker<int> intNullChecker = (x => x == null ? -1 : (int)x);
NullChecker<double> doubleNullChecker = (x => x == null ? double.NaN : (double)x);
NullChecker<string> stringNullChecker = (x => x == null ? string.Empty : (string)x);
Random rnd = new Random();
double soundSpeed = 1500;
#endregion
#region Constructor
public MainForm()
{
InitializeComponent();
this.Text = string.Format("{0}", Application.ProductName);
#region file names & paths
DateTime startTime = DateTime.Now;
settingsFileName = Path.ChangeExtension(Application.ExecutablePath, "settings");
logPath = Path.Combine(Path.GetDirectoryName(Application.ExecutablePath), "LOG");
logFileName = StrUtils.GetTimeDirTreeFileName(startTime, Application.ExecutablePath, "LOG", "log", true);
snapshotsPath = StrUtils.GetTimeDirTree(startTime, Application.ExecutablePath, "SNAPSHOTS", false);
#endregion
#region logger
loggerTextAddedEventHandler = new EventHandler<TextAddedEventArgs>(logger_TextAdded);
logger = new TSLogProvider(logFileName);
logger.TextAddedEvent += loggerTextAddedEventHandler;
logger.WriteStart();
#endregion
#region settings
logger.Write("Loading settings...");
settingsProvider = new SettingsProviderXML<SettingsContainer>();
settingsProvider.isSwallowExceptions = false;
try
{
settingsProvider.Load(settingsFileName);
}
catch (Exception ex)
{
ProcessException(ex, true);
}
logger.Write(settingsProvider.Data.ToString());
u_RemoteTimeout_S = 3;
#endregion
#region NMEA
NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.UWV);
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "0", "x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "1", "x,x,x.x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "2", "x,x");
//$PUWV3,0,2,0.00010,23.09,0.000,*12\r\n
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "3", "x,x,x.x,x.x,x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "4", "x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "5", "x,x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "6", "x,x,x,x,x,x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "7", "x.x,x.x,x.x,x.x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "?", "x");
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "!", "c--c,x,c--c,x,x.x,x,x,x,x.x,x,x");
#endregion
#region other
uPortErrorEventHandler = new EventHandler<SerialErrorReceivedEventArgs>(uPort_Error);
uPortNewNMEAMessageEventHandler = new EventHandler<NewNMEAMessageEventArgs>(uPort_NewNMEAMessage);
uPort = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.UPortName, BaudRate.baudRate9600,
System.IO.Ports.Parity.None, DataBits.dataBits8, System.IO.Ports.StopBits.One, System.IO.Ports.Handshake.None));
uPort.IsRawModeOnly = false;
timerTickHandler = new EventHandler(timer_Tick);
timer = new PrecisionTimer();
timer.Mode = Mode.Periodic;
timer.Period = 1000;
timer.Tick += timerTickHandler;
timer.Start();
if (settingsProvider.Data.IsGNSSEmulator)
{
gnssEmulatorPort = new NMEASerialPort(new SerialPortSettings(settingsProvider.Data.GNSSEmulatorPortName, BaudRate.baudRate9600,
Parity.None, DataBits.dataBits8, StopBits.One, Handshake.None));
}
measurements = new Measurements(settingsProvider.Data.MeasurementsFIFOSize, settingsProvider.Data.BaseSize);
bLatitude = new AgingDouble("F06", "°");
bLongitude = new AgingDouble("F06", "°");
bTemperature = new AgingDouble("F01", "°C");
bDepth = new AgingDouble("F03", " m");
bPrs = new AgingDouble("F01", " mBar");
bVCC = new AgingDouble("F01", " V");
tTemperature = new AgingDouble("F01", "°C");
tDepth = new AgingDouble("F02", " m");
tLatitude = new AgingDouble("F06", "°");
tLongitude = new AgingDouble("F06", "°");
tRadialError = new AgingDouble("F03", " m");
tLocation = new List<GeoPoint3DWE>();
bLocation = new List<GeoPoint>();
tBestLocation = new GeoPoint3DWE();
tBestLocation.Latitude = double.NaN;
tBestLocation.Longitude = double.NaN;
tBestLocation.RadialError = double.NaN;
marinePlot.InitTracks(settingsProvider.Data.MeasurementsFIFOSize);
marinePlot.AddTrack("BOAT GNSS", Color.Blue, 2.0f, 2, settingsProvider.Data.MeasurementsFIFOSize, true);
marinePlot.AddTrack("BASE", Color.Salmon, 2.0f, 8, settingsProvider.Data.BaseSize, false);
marinePlot.AddTrack("MEASUREMENTS", Color.Green, 2.0f, 4, settingsProvider.Data.MeasurementsFIFOSize, false);
marinePlot.AddTrack("TARGET", Color.Black, 2.0f, 4, settingsProvider.Data.MeasurementsFIFOSize, false);
marinePlot.AddTrack("BEST", Color.Red, 2.0f, 8, 1, false);
#endregion
}
#endregion
#region Methods
#region parsers
private void Parse_ACK(object[] parameters)
{
u_isWaiting = false;
if (!u_settingsUpdated)
u_settingsUpdated = true;
else if (!u_ambUpdated)
u_ambUpdated = true;
//#define IC_D2H_ACK '0' // $PUWV0,cmdID,errCode
logger.Write(string.Format("{0} (uWAVE) >> ACK {1}", uPort.PortName, (LocalError_Enum)Enum.ToObject(typeof(LocalError_Enum), (int)parameters[1])));
}
private void Parse_DINFO(object[] parameters)
{
u_isWaiting = false;
try
{
// #define IC_D2H_DINFO '!'
// $PUWV!,sys_moniker,sys_version,core_moniker [release],core_version,acBaudrate,rxChID,txChID,maxChannels,sty_psu,isPTS,cfg_IsCmdMode
string sys_moniker = parameters[0].ToString();
string sys_version = uWAVE.BCDVersionToStr((int)parameters[1]);
string core_moniker = parameters[2].ToString();
string core_version = uWAVE.BCDVersionToStr((int)parameters[3]);
double acBaudrate = (double)parameters[4];
int rxChID = (int)parameters[5];
int txChID = (int)parameters[6];
int maxChannels = (int)parameters[7];
double styPSU = (double)parameters[8];
int isPTSFlag = (int)parameters[9];
int isCmdModeFlag = (int)parameters[10];
u_deviceInfoUpdated = true;
logger.Write(string.Format("{0} (uWAVE) >> DEV_INFO", uPort.PortName));
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
private void Parse_RC_RESPONSE(object[] parameters)
{
u_isWaitingRemote = false;
// #define IC_D2H_RC_RESPONSE '3' // $PUWV3,rcCmdID,propTime_seс,snr,[value],[azimuth]
// $PUWV3,0,2,0.00010,23.09,0.000,*12\r\n
try
{
int txChID = (int)parameters[0];
double pTime = double.NaN;
double snrd = double.NaN;
double value = double.NaN;
RC_CODES_Enum cmdID = (RC_CODES_Enum)(int)parameters[1];
pTime = (double)parameters[2];
snrd = (double)parameters[3];
if (parameters[4] != null)
value = (double)parameters[4];
double dst = pTime * soundSpeed;
if (cmdID == RC_CODES_Enum.RC_TMP_GET)
tTemperature.Value = value;
else if (cmdID == RC_CODES_Enum.RC_DPT_GET)
tDepth.Value = value;
StringBuilder sb = new StringBuilder();
sb.AppendFormat(CultureInfo.InvariantCulture, "BOAT\r\nLAT: {0}\r\nLON: {1}\r\nDPT: {2}\r\nTMP: {3}\r\nPTM: {4:F04} s\r\n",
bLatitude.ToString(), bLongitude.ToString(), bDepth.ToString(), bTemperature.ToString(), pTime);
sb.AppendFormat(CultureInfo.InvariantCulture, "\r\nTARGET\r\nDST: {0:F02} m\r\nSNR: {1:F01} dB\r\n", dst, snrd);
if (tDepth.IsInitialized && !tDepth.IsObsolete)
sb.AppendFormat(CultureInfo.InvariantCulture, "DPT: {0}\r\n", tDepth.ToString());
if (tTemperature.IsInitialized && !tTemperature.IsObsolete)
sb.AppendFormat(CultureInfo.InvariantCulture, "TMP: {0}\r\n", tTemperature.ToString());
if (bLatitude.IsInitialized && !bLatitude.IsObsolete &&
bLongitude.IsInitialized && !bLongitude.IsObsolete)
{
measurements.Add(new Measurement(bLatitude.Value, bLongitude.Value, dst, snrd, bDepth.Value));
InvokeUpdateTrack("MEASUREMENTS", bLatitude.Value, bLongitude.Value);
if (measurements.IsBaseExists && tDepth.IsInitialized && (measurements.AngleRange > 270))
{
GeoPoint3DWE prevLocation = new GeoPoint3DWE();
prevLocation.Latitude = double.NaN;
prevLocation.Longitude = double.NaN;
prevLocation.Depth = tDepth.Value;
prevLocation.RadialError = double.NaN;
double stStageRErr = 0.0;
int itCnt = 0;
var basePoints = measurements.GetBase();
List<PointF> basePnts = new List<PointF>();
foreach (var bPoint in basePoints)
{
basePnts.Add(new PointF(Convert.ToSingle(bPoint.Latitude), Convert.ToSingle(bPoint.Longitude)));
}
InvokeUpdateTrack("BASE", basePnts.ToArray());
var locResult = Navigation.LocateLBL_NLM(basePoints, prevLocation, settingsProvider.Data.RadialErrorThreshold, out stStageRErr, out itCnt);
tLatitude.Value = locResult.Latitude;
tLongitude.Value = locResult.Longitude;
tRadialError.Value = locResult.RadialError;
tLocation.Add(locResult);
InvokeUpdateTrack("TARGET", locResult.Latitude, locResult.Longitude);
if (settingsProvider.Data.IsGNSSEmulator)
{
SendEMU(locResult.Latitude, locResult.Longitude, tDepth.Value, locResult.RadialError);
}
if ((double.IsNaN(tBestLocation.Latitude) || (tBestLocation.RadialError > locResult.RadialError)))
{
tBestLocation.Latitude = locResult.Latitude;
tBestLocation.Longitude = locResult.Longitude;
tBestLocation.RadialError = locResult.RadialError;
measurements.UpdateReferencePoint(tBestLocation.Latitude, tBestLocation.Longitude);
InvokeUpdateTrack("BEST", tBestLocation.Latitude, tBestLocation.Longitude);
}
InvokeSetEnabled(mainToolStrip, tracksBtn, true);
}
else
{
double cLat = 0;
double cLon = 0;
measurements.CenterOfMass(out cLat, out cLon);
measurements.UpdateReferencePoint(cLat, cLon);
}
}
if (tLatitude.IsInitialized && !tLatitude.IsObsolete &&
tLongitude.IsInitialized && !tLongitude.IsObsolete)
{
sb.AppendFormat(CultureInfo.InvariantCulture, "LAT: {0}\r\nLON: {1}\r\n", tLatitude.ToString(), tLongitude.ToString());
}
if (tRadialError.IsInitialized && !tRadialError.IsObsolete)
sb.AppendFormat(CultureInfo.InvariantCulture, "RER: {0}\r\n", tRadialError.ToString());
if (!double.IsNaN(tBestLocation.RadialError))
sb.AppendFormat(CultureInfo.InvariantCulture, "BRE: {0:F03}\r\n", tBestLocation.RadialError);
InvokeSetLeftUpperCornerText(sb.ToString());
InvokeInvalidatePlot();
if (isAutosnapshot)
InvokeSaveSnapShot();
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
private void Parse_RC_TIMEOUT(object[] parameters)
{
//$PUWV4,rcCmdID
RC_CODES_Enum reqID = RC_CODES_Enum.RC_INVALID;
int txChID = -1;
try
{
txChID = (int)parameters[0];
reqID = (RC_CODES_Enum)(int)parameters[1];
u_OnRemotTimeout();
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
private void Parse_AMB_DATA(object[] parameters)
{
try
{
if (parameters[0] != null)
{
bPrs.Value = (double)parameters[0];
}
if (parameters[1] != null)
{
bTemperature.Value = (double)parameters[1];
}
if (parameters[2] != null)
{
bDepth.Value = (double)parameters[2];
}
if (parameters[3] != null)
{
bVCC.Value = (double)parameters[3];
}
if (bPrs.IsInitialized && bTemperature.IsInitialized)
soundSpeed = PHX.PHX_SpeedOfSound_Calc(bTemperature.Value, bPrs.Value, settingsProvider.Data.Salinity);
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
private void Parse_RMC(object[] parameters)
{
DateTime tStamp = (DateTime)parameters[0];
var latitude = doubleNullChecker(parameters[2]);
var longitude = doubleNullChecker(parameters[4]);
var groundSpeed = doubleNullChecker(parameters[6]);
var courseOverGround = doubleNullChecker(parameters[7]);
var dateTime = (DateTime)parameters[8];
var magneticVariation = doubleNullChecker(parameters[9]);
bool isValid = (parameters[1].ToString() != "Invalid") &&
(!double.IsNaN(latitude)) &&
(!double.IsNaN(longitude)) &&
(!double.IsNaN(groundSpeed)) &&
(!double.IsNaN(courseOverGround)) &&
(parameters[11].ToString() != "N");
if (isValid)
{
dateTime.AddHours(tStamp.Hour);
dateTime.AddMinutes(tStamp.Minute);
dateTime.AddSeconds(tStamp.Second);
dateTime.AddMilliseconds(tStamp.Millisecond);
groundSpeed = NMEAParser.NM2Km(groundSpeed);
if (parameters[3].ToString() == "South") latitude = -latitude;
if (parameters[5].ToString() == "West") longitude = -longitude;
bLatitude.Value = latitude;
bLongitude.Value = longitude;
GeoPoint newPoint = new GeoPoint();
newPoint.Latitude = latitude;
newPoint.Longitude = longitude;
bLocation.Add(newPoint);
InvokeUpdateTrack("BOAT GNSS", latitude, longitude);
InvokeInvalidatePlot();
InvokeSetEnabled(mainToolStrip, tracksBtn, true);
}
}
#endregion
#region Misc
private void InvokeSetEnabled(ToolStrip strip, ToolStripItem item, bool enabled)
{
if (strip.InvokeRequired)
strip.Invoke((MethodInvoker)delegate
{
if (item.Enabled != enabled)
item.Enabled = enabled;
});
else
{
if (item.Enabled != enabled)
item.Enabled = enabled;
}
}
private void InvokeInvalidatePlot()
{
if (marinePlot.InvokeRequired)
marinePlot.Invoke((MethodInvoker)delegate { marinePlot.Invalidate(); });
else
marinePlot.Invalidate();
}
private void InvokeSetLeftUpperCornerText(string text)
{
if (marinePlot.InvokeRequired)
marinePlot.Invoke((MethodInvoker)delegate { marinePlot.LeftUpperCornerText = text; });
else
marinePlot.LeftUpperCornerText = text;
}
private void InvokeUpdateTrack(string trackID, double lat, double lon)
{
if (marinePlot.InvokeRequired)
marinePlot.Invoke((MethodInvoker)delegate { marinePlot.UpdateTrack(trackID, lat, lon); });
else
marinePlot.UpdateTrack(trackID, lat, lon);
}
private void InvokeUpdateTrack(string trackID, PointF[] pnts)
{
if (marinePlot.InvokeRequired)
marinePlot.Invoke((MethodInvoker)delegate { marinePlot.UpdateTrack(trackID, pnts); });
else
marinePlot.UpdateTrack(trackID, pnts);
}
private void InvokeSaveSnapShot()
{
if (this.InvokeRequired)
this.Invoke((MethodInvoker)delegate { SaveFullSnapshot(); });
else
SaveFullSnapshot();
}
private void ProcessException(Exception ex, bool isMsgBox)
{
string msg = logger.Write(ex);
if (isMsgBox)
MessageBox.Show(msg, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
private void OnConnectionOpened()
{
u_deviceInfoUpdated = false;
u_isWaiting = false;
u_isWaitingRemote = false;
u_lastQuery = string.Empty;
u_settingsUpdated = false;
u_ambUpdated = false;
connectionBtn.Checked = true;
isAutoQueryBtn.Enabled = true;
settingsBtn.Enabled = false;
connectionStatusLbl.Text = string.Format("CONNECTED ON {0}", uPort.PortName);
}
private void OnConnectionClosed()
{
connectionBtn.Checked = false;
settingsBtn.Enabled = true;
isAutoquery = false;
isAutoQueryBtn.Checked = false;
isAutoQueryBtn.Enabled = false;
connectionStatusLbl.Text = "DISCONNECTED";
}
private void SaveFullSnapshot()
{
Bitmap target = new Bitmap(this.Width, this.Height);
this.DrawToBitmap(target, this.DisplayRectangle);
try
{
if (!Directory.Exists(snapshotsPath))
Directory.CreateDirectory(snapshotsPath);
target.Save(Path.Combine(snapshotsPath, string.Format("{0}.{1}", StrUtils.GetHMSString(), ImageFormat.Png)));
}
catch
{
//
}
}
private void SendEMU(double tLat, double tLon, double tdpt, double tRErr)
{
// "hhmmss.ss,A=Valid|V=Invalid,llll.ll,N=North|S=South,yyyyy.yy,E=East|W=West,x.x,x.x,ddmmyy,x.x,a,a" },
// $GPRMC,105552.000,A,4831.4568,N,04430.2342,E,0.17,180.99,230518,,,A*6F
string latCardinal;
if (tLat > 0) latCardinal = "North";
else latCardinal = "South";
string lonCardinal;
if (tLon > 0) lonCardinal = "East";
else lonCardinal = "West";
StringBuilder sb = new StringBuilder();
sb.Append(NMEAParser.BuildSentence(TalkerIdentifiers.GN, SentenceIdentifiers.RMC, new object[]
{
DateTime.Now,
"Valid",
tLat, latCardinal,
tLon, lonCardinal,
null, // speed knots
null, // track true
DateTime.Now,
null, // magnetic variation
null, // magnetic variation direction
"A",
}));
// "hhmmss.ss,llll.ll,a,yyyyy.yy,a,0=Fix not availible|1=GPS fix|2=DGPS fix,xx,x.x,x.x,M,x.x,M,x.x,xxxx" },
sb.Append(NMEAParser.BuildSentence(TalkerIdentifiers.GN, SentenceIdentifiers.GGA, new object[]
{
DateTime.Now,
tLat, latCardinal[0],
tLon, lonCardinal[0],
"GPS fix",
settingsProvider.Data.BaseSize,
tRErr,
-tdpt,
"M",
null,
"M",
null,
null
}));
try
{
gnssEmulatorPort.SendData(sb.ToString());
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
private void SaveTracks(string fileName)
{
#region Save to KML
KMLData data = new KMLData(fileName, "Generated by RedGTR_VLBL application");
var gnssKmlTrack = new List<KMLLocation>();
foreach (var trackItem in bLocation)
gnssKmlTrack.Add(new KMLLocation(trackItem.Longitude, trackItem.Latitude, bDepth.Value));
data.Add(new KMLPlacemark("BOAT GNSS", "Boat GNSS track", gnssKmlTrack.ToArray()));
var msmsKmlTrack = new List<KMLLocation>();
var msms = measurements.ToArray();
foreach (var trackItem in msms)
msmsKmlTrack.Add(new KMLLocation(trackItem.Longitude, trackItem.Latitude, bDepth.Value));
data.Add(new KMLPlacemark("MEASUREMENT POINTS", "Measurements points", msmsKmlTrack.ToArray()));
var targetKmlTrack = new List<KMLLocation>();
foreach (var trackItem in tLocation)
targetKmlTrack.Add(new KMLLocation(trackItem.Longitude, trackItem.Latitude, tDepth.Value));
data.Add(new KMLPlacemark("TARGET", "Target track", targetKmlTrack.ToArray()));
data.Add(new KMLPlacemark("BEST", "Location with minimal radial error", true, true, new KMLLocation(tBestLocation.Longitude, tBestLocation.Latitude, tDepth.Value)));
try
{
TinyKML.Write(data, fileName);
}
catch (Exception ex)
{
ProcessException(ex, true);
}
#endregion
}
private void AnalyzeLog(string[] lines)
{
foreach (var line in lines)
{
if (line.Contains(">> $"))
{
var nmsg = line.Substring(line.IndexOf(">>") + 3).Trim();
if (!nmsg.EndsWith("\r\n"))
nmsg = nmsg + "\r\n";
uPort_NewNMEAMessage(uPort, new NewNMEAMessageEventArgs(nmsg));
//Thread.Sleep(200);
}
}
}
#endregion
private void u_TrySend(string msg, string queryDescription, bool isRemote)
{
try
{
uPort.SendData(msg);
logger.Write(string.Format("{0} (uWAVE) << {1}", uPort.PortName, msg));
u_lastQuery = queryDescription;
u_isWaiting = true;
u_timeoutCounter = 0;
if (isRemote)
{
u_isWaitingRemote = true;
u_remoteTimeoutCounter = 0;
}
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
private void u_OnTimeout()
{
u_isWaiting = false;
logger.Write(string.Format("{0} (uWAVE) >> {1} timeout", uPort.PortName, u_lastQuery));
}
private void u_OnRemotTimeout()
{
u_isWaitingRemote = false;
logger.Write(string.Format("SUB #{0} {1} timeout", settingsProvider.Data.TargetAddr, u_requestID));
}
private void u_QuerySettingsUpdate(int txChID, int rxChID, double salinityPSU)
{
var msg = NMEAParser.BuildProprietarySentence(ManufacturerCodes.UWV, "1", new object[] { txChID, rxChID, salinityPSU, 1 });
u_TrySend(msg, "Settings update", false);
}
private void u_DeviceInfoQuery()
{
var msg = NMEAParser.BuildProprietarySentence(ManufacturerCodes.UWV, "?", new object[] { 0 });
u_TrySend(msg, "Device info query", false);
}
private void u_AmbConfigUpdate()
{
var msg = NMEAParser.BuildProprietarySentence(ManufacturerCodes.UWV, "6", new object[] { 0, 1, 1, 1, 1, 1 });
u_TrySend(msg, "Ambient data config", false);
}
private void u_QueryRemote(int targetAddr, RC_CODES_Enum cmd)
{
var msg = NMEAParser.BuildProprietarySentence(ManufacturerCodes.UWV, "2", new object[] { targetAddr, (int)cmd });
u_requestID = cmd;
u_TrySend(msg, string.Format("uWAVE << ? SUB #{0}, CMD {1}", targetAddr, cmd), true);
}
#endregion
#region Handlers
#region UI
#region mainToolStrip
private void connectionBtn_Click(object sender, EventArgs e)
{
if (uPort.IsOpen)
{
uPort.PortError -= uPortErrorEventHandler;
uPort.NewNMEAMessage -= uPortNewNMEAMessageEventHandler;
try
{
uPort.Close();
}
catch (Exception ex)
{
ProcessException(ex, true);
}
if (settingsProvider.Data.IsGNSSEmulator)
{
try
{
gnssEmulatorPort.Close();
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
OnConnectionClosed();
}
else
{
try
{
uPort.Open();
uPort.PortError += uPortErrorEventHandler;
uPort.NewNMEAMessage += uPortNewNMEAMessageEventHandler;
OnConnectionOpened();
}
catch (Exception ex)
{
ProcessException(ex, true);
OnConnectionClosed();
}
if ((uPort.IsOpen) && (settingsProvider.Data.IsGNSSEmulator))
{
try
{
gnssEmulatorPort.Open();
}
catch (Exception ex)
{
ProcessException(ex, false);
}
}
}
}
private void isAutoQueryBtn_Click(object sender, EventArgs e)
{
isAutoquery = !isAutoquery;
isAutoQueryBtn.Checked = isAutoquery;
}
private void isAutosnapshotBtn_Click(object sender, EventArgs e)
{
isAutosnapshot = !isAutosnapshot;
isAutosnapshotBtn.Checked = isAutosnapshot;
}
private void exportTracksBtn_Click(object sender, EventArgs e)
{
using (SaveFileDialog sDialog = new SaveFileDialog())
{
sDialog.Title = "Exporting tracks...";
sDialog.Filter = "Google KML (*.kml)|*.kml";
sDialog.FileName = string.Format("{0}.kml", StrUtils.GetHMSString());
sDialog.DefaultExt = "kml";
if (sDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
SaveTracks(sDialog.FileName);
}
}
}
private void clearTracksBtn_Click(object sender, EventArgs e)
{
if (MessageBox.Show("Clear tracks?", "Question", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
tLocation.Clear();
bLocation.Clear();
marinePlot.ClearTracks();
marinePlot.Invalidate();
tracksBtn.Enabled = false;
}
}
private void analyzeBtn_Click(object sender, EventArgs e)
{
using (OpenFileDialog oDialog = new OpenFileDialog())
{
oDialog.Title = "Select a log file to analyze...";
oDialog.DefaultExt = "log";
oDialog.Filter = "Log files (*.log)|*.log";
oDialog.InitialDirectory = logPath;
if (oDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
bool isLoaded = false;
string[] logLines = null;
try
{
logLines = File.ReadAllLines(oDialog.FileName);
isLoaded = true;
}
catch (Exception ex)
{
ProcessException(ex, true);
}
if (isLoaded)
AnalyzeLog(logLines);
}
}
}
private void settingsBtn_Click(object sender, EventArgs e)
{
bool isSaved = false;
using (SettingsEditor sDialog = new SettingsEditor())
{
sDialog.Text = string.Format("{0} - [Settings]", Application.ProductName);
sDialog.Value = settingsProvider.Data;
if (sDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
settingsProvider.Data = sDialog.Value;
try
{
settingsProvider.Save(settingsFileName);
isSaved = true;
}
catch (Exception ex)
{
ProcessException(ex, true);
}
}
}
if (isSaved)
{
if (MessageBox.Show("Restart application to apply new settings?", "Question", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
isRestart = true;
Application.Restart();
}
}
}
private void infoBtn_Click(object sender, EventArgs e)
{
using (AboutBox aDialog = new AboutBox())
{
aDialog.ApplyAssembly(Assembly.GetExecutingAssembly());
aDialog.Weblink = "www.unavlab.com";
aDialog.ShowDialog();
}
}
#endregion
#region mainFrom
private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
{
logger.TextAddedEvent -= loggerTextAddedEventHandler;
logger.FinishLog();
timer.Tick -= timerTickHandler;
if (timer.IsRunning)
timer.Stop();
timer.Dispose();
if (gnssEmulatorPort != null)
{
if (gnssEmulatorPort.IsOpen)
gnssEmulatorPort.Close();
gnssEmulatorPort.Dispose();
}
if (uPort.IsOpen)
{
uPort.NewNMEAMessage -= uPortNewNMEAMessageEventHandler;
uPort.PortError -= uPortErrorEventHandler;