From: kimikage <kimikage_ceo@hotmail.com>
Date: Fri, 8 Jun 2012 12:31:10 +0000 (+0900)
Subject: NMEAパケットの部分実装(GPDTM, GPGBS, GPGLL)
X-Git-Url: http://git.sourceforge.jp/view?p=yubeshi%2Fyubeshi.git;a=commitdiff_plain;ds=sidebyside

NMEAパケットの部分実装(GPDTM, GPGBS, GPGLL)
---

diff --git a/Yubeshi/Nmea/GpDtm.cs b/Yubeshi/Nmea/GpDtm.cs
index bc9a846..006f0e9 100755
--- a/Yubeshi/Nmea/GpDtm.cs
+++ b/Yubeshi/Nmea/GpDtm.cs
@@ -58,8 +58,14 @@ namespace Yubeshi.Nmea
             : base(sentence, elements.PacketLength)
         {
             string[] v = elements.Values;
-            LocalDatumCode = codes[v[0]];
-            //Offset = new GeodeticCoordinate();
+            LocalDatumCode = GetDatumCode(v[0]);
+            LocalDatumSubCode = v[1];
+            Offset = new GeodeticCoordinate(
+                                    Degree.FromNmeaFormat(v[2], v[3]),
+                                    Degree.FromNmeaFormat(v[4], v[5]),
+                                    Double.Parse(v[6]));
+            ReferenceDatumCode = GetDatumCode(v[7]);
+            CheckSum = elements.CheckSum;
         }
 
         #endregion
@@ -71,13 +77,19 @@ namespace Yubeshi.Nmea
             private set;
         }
 
+        public string LocalDatumSubCode
+        {
+            get;
+            private set;
+        }
+
         public GeodeticCoordinate Offset
         {
             get;
             private set;
         }
 
-        public Code ReferenceDetumCode
+        public Code ReferenceDatumCode
         {
             get;
             private set;
@@ -100,6 +112,16 @@ namespace Yubeshi.Nmea
             return new GpDtm(sentence, elements);
         }
 
+        private Code GetDatumCode(string datumCode)
+        {
+            Code c;
+            if (codes.TryGetValue(datumCode, out c))
+            {
+                return c;
+            }
+            return Code.Unknown;
+        }
         #endregion
+
     }
 }
diff --git a/Yubeshi/Nmea/GpGbs.cs b/Yubeshi/Nmea/GpGbs.cs
index d431f59..1d9b281 100755
--- a/Yubeshi/Nmea/GpGbs.cs
+++ b/Yubeshi/Nmea/GpGbs.cs
@@ -16,5 +16,111 @@ namespace Yubeshi.Nmea
     /// </summary>
     public class GpGbs : Packet
     {
+        #region fields
+        private static readonly byte[] header;
+        private const int elementNum = 8;
+
+        #endregion
+
+        #region constructors
+        
+        static GpGbs()
+        {
+            header = Encoding.ASCII.GetBytes("$GPGBS,");
+        }
+        
+        public GpGbs()
+        {
+        }
+
+        public GpGbs(byte[] sentence)
+            : this(sentence, GetElements(sentence, elementNum))
+        {
+        }
+
+        private GpGbs(byte[] sentence, Elements elements)
+            : base(sentence, elements.PacketLength)
+        {
+            string[] v = elements.Values;
+            Utc = ParseTime(v[0]);
+            LatitudeError = ParseDouble(v[1]);
+            LongitudeError = ParseDouble(v[2]);
+            AltitudeError = ParseDouble(v[3]);
+            FailedSatellite = ParseInt(v[4], -1);
+            ProbabilityOfMissedDetection = ParseDouble(v[5]);
+            Bias = ParseDouble(v[6]);
+            StandardDeviationOfBias = ParseDouble(v[7]);
+            CheckSum = elements.CheckSum;
+        }
+
+        #endregion
+
+        #region properties
+        public TimeSpan Utc
+        {
+            get;
+            private set;
+        }
+
+        public double LatitudeError
+        {
+            get;
+            private set;
+        }
+
+        public double LongitudeError
+        {
+            get;
+            private set;
+        }
+
+        public double AltitudeError
+        {
+            get;
+            private set;
+        }
+
+        public int FailedSatellite
+        {
+            get;
+            private set;
+        }
+
+        public double ProbabilityOfMissedDetection
+        {
+            get;
+            private set;
+        }
+
+        public double Bias
+        {
+            get;
+            private set;
+        }
+
+        public double StandardDeviationOfBias
+        {
+            get;
+            private set;
+        }
+        #endregion
+
+        #region public method
+
+        public static bool TryParse(byte[] sentence, out UnknownPacket packet)
+        {
+            return TryParse(sentence, out packet, header, elementNum, Build);
+        }
+
+        #endregion
+
+        #region private method
+
+        private static Packet Build(byte[] sentence, Elements elements)
+        {
+            return new GpGbs(sentence, elements);
+        }
+
+        #endregion
     }
 }
\ No newline at end of file
diff --git a/Yubeshi/Nmea/GpGll.cs b/Yubeshi/Nmea/GpGll.cs
index 52ba95c..258ae83 100755
--- a/Yubeshi/Nmea/GpGll.cs
+++ b/Yubeshi/Nmea/GpGll.cs
@@ -16,10 +16,22 @@ namespace Yubeshi.Nmea
     /// </summary>
     public class GpGll : Packet
     {
-        #region fields
+        #region type definitions
+        public enum Mode
+        { 
+            Unknown = -1,
+            None,
+            Autonomous, 
+            Differential,
+            DeadReckoning,
+        }
+        #endregion
 
+        #region fields
+        private static Dictionary<string, Mode> modes;
         private static readonly byte[] header;
-        private const int elementNum = 7;
+        private const int elementNum = -1; // 6 or 7
+
 
         #endregion
 
@@ -28,6 +40,12 @@ namespace Yubeshi.Nmea
         static GpGll()
         {
             header = Encoding.ASCII.GetBytes("$GPGLL,");
+
+            modes = new Dictionary<string, Mode>();
+            modes["N"] = Mode.None;
+            modes["A"] = Mode.Autonomous;
+            modes["D"] = Mode.Differential;
+            modes["E"] = Mode.DeadReckoning;
         }
         
         public GpGll()
@@ -40,8 +58,48 @@ namespace Yubeshi.Nmea
         }
 
         private GpGll(byte[] sentence, Elements elements)
-        { 
+        {
+            string[] v = elements.Values;
+            if (v.Length < 6 || v.Length > 7)
+            {
+                throw new ArgumentException();
+            }
+            Position = new GeodeticCoordinate(
+                                    Degree.FromNmeaFormat(v[0], v[1]),
+                                    Degree.FromNmeaFormat(v[2], v[3]));
+            CurrentTime = ParseTime(v[4]);
+            DataStatus = ParseStatus(v[5]);
+            PositioningMode = (v.Length == 7) ? 
+                                        GetPositioningMode(v[6]): Mode.Unknown;
+            CheckSum = elements.CheckSum;
+        }
+
+        #endregion
+
+        #region properties
 
+        public GeodeticCoordinate Position
+        {
+            get;
+            private set;
+        }
+
+        public TimeSpan CurrentTime
+        {
+            get;
+            private set;
+        }
+
+        public Status DataStatus
+        {
+            get;
+            private set;
+        }
+
+        public Mode PositioningMode
+        {
+            get;
+            private set;
         }
 
         #endregion
@@ -62,6 +120,15 @@ namespace Yubeshi.Nmea
             return new GpGll(sentence, elements);
         }
 
+        private Mode GetPositioningMode(string mode)
+        {
+            Mode m;
+            if (modes.TryGetValue(mode, out m))
+            {
+                return m;
+            }
+            return Mode.Unknown;
+        }
         #endregion
     }
 }
\ No newline at end of file
diff --git a/YubeshiTest/NmeaTest/PacketTest.cs b/YubeshiTest/NmeaTest/PacketTest.cs
index 2ed8497..72aa445 100755
--- a/YubeshiTest/NmeaTest/PacketTest.cs
+++ b/YubeshiTest/NmeaTest/PacketTest.cs
@@ -24,7 +24,31 @@ namespace YubeshiTest.NmeaTest
         {
             UnknownPacket packet;
             Assert.IsTrue(GpDtm.TryParse(P.GpDtm, out packet));
-            GpGga p = packet as GpGga;
+            GpDtm p = packet as GpDtm;
+            Assert.AreEqual(GpDtm.Code.Wgs84, p.LocalDatumCode);
+            Assert.AreEqual("", p.LocalDatumSubCode);
+            Assert.AreEqual(0.0, (double)p.Offset.Latitude);
+            Assert.AreEqual(0.0, (double)p.Offset.Longitude);
+            Assert.AreEqual(0.0, (double)p.Offset.Altitude);
+            Assert.AreEqual(GpDtm.Code.Wgs84, p.ReferenceDatumCode);
+            Assert.AreEqual(0x6F, p.CheckSum);
+        }
+
+        [Test]
+        public void GpGbsTest()
+        {
+            UnknownPacket packet;
+            Assert.IsTrue(GpGbs.TryParse(P.GpGbs, out packet));
+            GpGbs p = packet as GpGbs;
+            Assert.AreEqual(new TimeSpan(23, 55, 03), p.Utc);
+            Assert.AreEqual(1.6, (double)p.LatitudeError);
+            Assert.AreEqual(1.4, (double)p.LongitudeError);
+            Assert.AreEqual(3.2, (double)p.AltitudeError);
+            Assert.AreEqual(-1, p.FailedSatellite);
+            Assert.True(Double.IsNaN(p.ProbabilityOfMissedDetection));
+            Assert.True(Double.IsNaN(p.Bias));
+            Assert.True(Double.IsNaN(p.StandardDeviationOfBias));
+            Assert.AreEqual(0x40, p.CheckSum);
         }
 
         [Test]
@@ -36,6 +60,31 @@ namespace YubeshiTest.NmeaTest
             Assert.AreEqual(new TimeSpan(0, 9, 27, 25, 0), p.TimeOfFix);
             Assert.AreEqual(2837.11399, p.Position.Latitude * 60.0);
             Assert.AreEqual(513.9159, p.Position.Longitude * 60.0);
+            Assert.AreEqual(GpGga.FixQualityClass.Gps, p.FixQuality);
+            Assert.AreEqual(8, p.TrackedSatellites);
+            Assert.AreEqual(1.01, p.HorizontalDop);
+            Assert.AreEqual(499.6, (double)p.MslAltitude);
+            Assert.True(p.MslAltitude.IsAltitude);
+            Assert.AreEqual(48.0, (double)p.GeoidSeparation);
+            Assert.AreEqual(Height.Base.Wgs84Ellipsoid,
+                                                p.GeoidSeparation.BaseLevel);
+            Assert.Less(p.AgeOfDgpsCorrections.TotalSeconds, 0.0);
+            Assert.AreEqual(0, p.DgpsStation);
+            Assert.AreEqual(0x5B, p.CheckSum);
+        }
+
+        [Test]
+        public void GpGllTest()
+        {
+            UnknownPacket packet;
+            Assert.IsTrue(GpGll.TryParse(P.GpGll, out packet));
+            GpGll p = packet as GpGll;
+            Assert.AreEqual(2837.11364, p.Position.Latitude * 60.0);
+            Assert.AreEqual(513.91565, p.Position.Longitude * 60.0);
+            Assert.AreEqual(new TimeSpan(0, 9, 23, 21, 0), p.CurrentTime);
+            Assert.AreEqual(GpGll.Status.Valid, p.DataStatus);
+            Assert.AreEqual(GpGll.Mode.Autonomous, p.PositioningMode);
+            Assert.AreEqual(0x60, p.CheckSum);
         }
     }
 }
diff --git a/YubeshiTest/NmeaTest/SamplePackets.cs b/YubeshiTest/NmeaTest/SamplePackets.cs
index e0ffe45..f67c887 100755
--- a/YubeshiTest/NmeaTest/SamplePackets.cs
+++ b/YubeshiTest/NmeaTest/SamplePackets.cs
@@ -23,7 +23,9 @@ namespace YubeshiTest.NmeaTest
         public static readonly byte[] GpGst;
         public static readonly byte[] GpGsv;
         public static readonly byte[] GpRmc;
-
+        public static readonly byte[] GpTxt;
+        public static readonly byte[] GpVtg;
+        public static readonly byte[] GpZda;
 
         static SamplePackets()
         {
@@ -33,11 +35,17 @@ namespace YubeshiTest.NmeaTest
 
             // from u-blox document
             GpDtm = ascii.GetBytes("$GPDTM,W84,,0.000000,N,0.000000,E,0.0,W84*6F\r\n");
+            GpGbs = ascii.GetBytes("$GPGBS,235503.00,1.6,1.4,3.2,,,,*40\r\n");
             GpGga = ascii.GetBytes("$GPGGA,092725.00,4717.11399,N,00833.91590,E,1,8,1.01,499.6,M,48.0,M,,0*5B\r\n");
             GpGll = ascii.GetBytes("$GPGLL,4717.11364,N,00833.91565,E,092321.00,A,A*60\r\n");
             GpGrs = ascii.GetBytes("$GPGRS,082632.00,1,0.54,0.83,1.00,1.02,-2.12,2.64,-0.71,-1.18,0.25,,,*70\r\n");
             GpGsa = ascii.GetBytes("$GPGSA,A,3,23,29,07,08,09,18,26,28,,,,,1.94,1.18,1.54*0D\r\n");
-
+            GpGst = ascii.GetBytes("$GPGST,082356.00,1.8,,,,1.7,1.3,2.2*7E\r\n");
+            GpGsv = ascii.GetBytes("$GPGSV,3,1,10,23,38,230,44,29,71,156,47,07,29,116,41,08,09,081,36*7F\r\n");
+            GpRmc = ascii.GetBytes("$GPRMC,083559.00,A,4717.11437,N,00833.91522,E,0.004,77.52,091202,,,A*57\r\n");
+            GpTxt = ascii.GetBytes("$GPTXT,01,01,02,u-blox ag - www.u-blox.com*50\r\n");
+            GpVtg = ascii.GetBytes("$GPVTG,77.52,T,,M,0.004,N,0.008,K,A*06\r\n");
+            GpZda = ascii.GetBytes("$GPZDA,082710.00,16,09,2002,00,00*64\r\n");
         }
     }
 }