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early gnss lib work

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Morten Nielsen 2020-07-26 15:29:44 -07:00
parent b52d2d2d2b
commit 36a5235982
9 changed files with 540 additions and 0 deletions
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120
src/NmeaParser.Gnss/GnssMessageAggregator.cs Normal file
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// *******************************************************************************
// * Licensed under the Apache License, Version 2.0 (the "License");
// * you may not use this file except in compliance with the License.
// * You may obtain a copy of the License at
// *
// * http://www.apache.org/licenses/LICENSE-2.0
// *
// * Unless required by applicable law or agreed to in writing, software
// * distributed under the License is distributed on an "AS IS" BASIS,
// * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// * See the License for the specific language governing permissions and
// * limitations under the License.
// ******************************************************************************
using NmeaParser.Messages;
using System;
using System.Linq;
namespace NmeaParser.Gnss
{
public class GnssMessageProcessor : MessageAggregator
{
public GnssMessageProcessor(NmeaDevice device) : base(device)
{
}
protected override void OnMessagesReceived(NmeaMessage[] messages)
{
base.OnMessagesReceived(messages);
// We prefer GNSS messages, so put thos first
var info = new PositionInformation();
messages = messages.OrderBy(rmc => rmc.TalkerId == Talker.GlobalNavigationSatelliteSystem ? -100 : (int)rmc.TalkerId).ToArray();
info.Longitude = double.NaN;
info.Latitude = double.NaN;
var RmcMessages = messages.OfType<Rmc>().Where(rmc => rmc.Active);
if (RmcMessages.Any())
{
var rmc = RmcMessages.First();
info.Latitude = rmc.Latitude;
info.Longitude = rmc.Longitude;
info.Speed = rmc.Speed;
info.TimeOfFix = rmc.FixTime;
}
var GsaMessages = messages.OfType<Gsa>().Where(gsa => gsa.Fix == Gsa.FixType.Fix3D);
if (!GsaMessages.Any())
GsaMessages = messages.OfType<Gsa>().Where(gsa => gsa.Fix == Gsa.FixType.Fix2D);
if (GsaMessages.Any())
{
var gsa = GsaMessages.First();
info.Hdop = gsa.Hdop;
info.Pdop = gsa.Pdop;
info.Vdop = gsa.Vdop;
info.SatelliteIds = gsa.SatelliteIDs;
}
var GsvMessages = messages.OfType<Gsv>();
if (GsvMessages.Any())
{
Gsv gsv = GsvMessages.First();
info.Satellites = gsv.SVs.ToArray();
}
var GstMessages = messages.OfType<Gst>();
if (GstMessages.Any())
{
Gst gst = GstMessages.First();
info.HorizontalAccuracy = (gst.SemiMajorError + gst.SemiMinorError) / 2;
info.VerticalAccuracy = gst.SigmaHeightError;
if (!info.TimeOfFix.HasValue)
{
info.TimeOfFix = DateTime.UtcNow.Date.Add(gst.FixTime);
}
}
var GgaMessages = messages.OfType<Gga>().Where(g => g.Quality != Gga.FixQuality.Invalid);
if (GgaMessages.Any())
{
Gga gga = GgaMessages.First();
info.Latitude = gga.Latitude;
info.Longitude = gga.Longitude;
info.Altitude = gga.Altitude;
info.GeoidalSeparation = gga.GeoidalSeparation;
if (!info.TimeOfFix.HasValue)
{
info.TimeOfFix = DateTime.UtcNow.Date.Add(gga.FixTime);
}
}
var GnsMessages = messages.OfType<Gns>();
if (GnsMessages.Any())
{
Gns gns = GnsMessages.First();
if (!info.TimeOfFix.HasValue)
{
info.TimeOfFix = DateTime.UtcNow.Date.Add(gns.FixTime);
}
info.GeoidalSeparation = gns.GeoidalSeparation;
info.Latitude = gns.Latitude;
info.Longitude = gns.Longitude;
}
LocationUpdated?.Invoke(this, info);
}
public event EventHandler<PositionInformation> LocationUpdated;
}
public struct PositionInformation
{
public double? Longitude { get; internal set; }
public double? Latitude { get; internal set; }
public double? Altitude { get; internal set; }
public double? GeoidalSeparation { get; internal set; }
public double? Speed { get; internal set; }
public double? Pdop { get; internal set; }
public double? Hdop { get; internal set; }
public double? Vdop { get; internal set; }
public double? HorizontalAccuracy { get; internal set; }
public double? VerticalAccuracy { get; internal set; }
public DateTimeOffset? TimeOfFix { get; internal set; }
public int[] SatelliteIds { get; internal set; }
public SatelliteVehicle[] Satellites { get; internal set; }
}
}

52
src/NmeaParser.Gnss/NmeaParser.Gnss.csproj Normal file
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<Project Sdk="MSBuild.Sdk.Extras/2.0.54">
<PropertyGroup>
<TargetFrameworks>netstandard1.4</TargetFrameworks>
<GeneratePackageOnBuild>true</GeneratePackageOnBuild>
<!--<GenerateDocumentationFile>true</GenerateDocumentationFile>-->
<Configurations>Debug;Release</Configurations>
<Platforms>AnyCPU</Platforms>
<Authors>Morten Nielsen</Authors>
<Company>Morten Nielsen</Company>
<Description>Global Navigation System library based on a NMEA input stream.</Description>
<PackageTags>nmea winrt wpf uwp xamarin gps serialport bluetooth gnss galileo GLONASS</PackageTags>
<PackageId>SharpGIS.NmeaParser.Gnss</PackageId>
<Version>2.1</Version>
<Product>NMEA Parser - GNSS</Product>
<PackageLicenseExpression>Apache-2.0</PackageLicenseExpression>
<PackageProjectUrl>https://dotmorten.github.io/NmeaParser/</PackageProjectUrl>
<RepositoryUrl>https://github.com/dotMorten/NmeaParser</RepositoryUrl>
<NeutralLanguage>en-US</NeutralLanguage>
<Copyright>Copyright © Morten Nielsen 2015-2020</Copyright>
<OutputPath>$(MSBuildThisFileDirectory)..\..\artifacts\NmeaParser\$(Configuration)</OutputPath>
<PackageOutputPath>..\..\artifacts\NuGet\$(Configuration)\</PackageOutputPath>
<PackageReleaseNotes></PackageReleaseNotes>
<PublishRepositoryUrl>true</PublishRepositoryUrl>
<EmbedUntrackedSources>true</EmbedUntrackedSources>
<AllowedOutputExtensionsInPackageBuildOutputFolder>$(AllowedOutputExtensionsInPackageBuildOutputFolder);.pdb</AllowedOutputExtensionsInPackageBuildOutputFolder>
<LangVersion>8.0</LangVersion>
<TreatWarningsAsErrors Condition="'$(Configuration)'=='Release'">true</TreatWarningsAsErrors>
<CodeAnalysisTreatWarningsAsErrors Condition="'$(Configuration)'=='Release'">true</CodeAnalysisTreatWarningsAsErrors>
<Nullable>enable</Nullable>
<PackageIcon>logo.png</PackageIcon>
<PackageIconUrl />
<AssemblyVersion>2.1.0.0</AssemblyVersion>
</PropertyGroup>
<PropertyGroup Condition="'$(TargetFramework)' == 'netstandard1.4'">
<DefineConstants>$(DefineConstants);NETSTANDARD</DefineConstants>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="Microsoft.SourceLink.GitHub" Version="1.0.0" PrivateAssets="All" />
</ItemGroup>
<ItemGroup>
<None Include="../NmeaParser/logo.png" Link="logo.png" Pack="true" PackagePath="" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\NmeaParser\NmeaParser.csproj" />
</ItemGroup>
</Project>

23
src/NmeaParser.Gnss/Ntrip/Carrier.cs Normal file
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// *******************************************************************************
// * Licensed under the Apache License, Version 2.0 (the "License");
// * you may not use this file except in compliance with the License.
// * You may obtain a copy of the License at
// *
// * http://www.apache.org/licenses/LICENSE-2.0
// *
// * Unless required by applicable law or agreed to in writing, software
// * distributed under the License is distributed on an "AS IS" BASIS,
// * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// * See the License for the specific language governing permissions and
// * limitations under the License.
// ******************************************************************************
namespace NmeaParser.Gnss.Ntrip
{
public enum Carrier : int
{
No = 0,
L1 = 1,
L1L2 = 2
}
}

59
src/NmeaParser.Gnss/Ntrip/Caster.cs Normal file
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// *******************************************************************************
// * Licensed under the Apache License, Version 2.0 (the "License");
// * you may not use this file except in compliance with the License.
// * You may obtain a copy of the License at
// *
// * http://www.apache.org/licenses/LICENSE-2.0
// *
// * Unless required by applicable law or agreed to in writing, software
// * distributed under the License is distributed on an "AS IS" BASIS,
// * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// * See the License for the specific language governing permissions and
// * limitations under the License.
// ******************************************************************************
using System.Globalization;
using System.Net;
namespace NmeaParser.Gnss.Ntrip
{
public class Caster : NtripSource
{
internal Caster (string[] d)
{
var a = d[1].Split(':');
Address = IPAddress.Parse(a[0]);
Port = int.Parse(a[1]);
Identifier = d[3];
Operator = d[4];
SupportsNmea = d[5] == "1";
CountryCode = d[6];
Latitude = double.Parse(d[7], CultureInfo.InvariantCulture);
Longitude = double.Parse(d[8], CultureInfo.InvariantCulture);
FallbackAddress = IPAddress.Parse(d[9]);
}
public Caster(IPAddress address, int port, string identifier, string _operator, bool supportsNmea, string countryCode, double latitude, double longitude, IPAddress fallbackkAddress)
{
Address = address;
Port = port;
Identifier = identifier;
Operator = _operator;
SupportsNmea = supportsNmea;
CountryCode = countryCode;
Latitude = latitude;
Longitude = longitude;
FallbackAddress = fallbackkAddress;
}
public IPAddress Address { get; }
public int Port { get; }
public string Identifier { get; }
public string Operator { get; }
public bool SupportsNmea { get; }
public string CountryCode { get; }
public double Latitude { get; }
public double Longitude { get; }
public IPAddress FallbackAddress { get; }
}
}

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src/NmeaParser.Gnss/Ntrip/Client.cs Normal file
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// *******************************************************************************
// * Licensed under the Apache License, Version 2.0 (the "License");
// * you may not use this file except in compliance with the License.
// * You may obtain a copy of the License at
// *
// * http://www.apache.org/licenses/LICENSE-2.0
// *
// * Unless required by applicable law or agreed to in writing, software
// * distributed under the License is distributed on an "AS IS" BASIS,
// * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// * See the License for the specific language governing permissions and
// * limitations under the License.
// ******************************************************************************
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Sockets;
using System.Threading.Tasks;
namespace NmeaParser.Gnss.Ntrip
{
public class Client : IDisposable
{
private readonly string _host;
private readonly int _port;
private string? _auth;
private Socket? sckt;
private bool connected;
private Task? runningTask;
public Client(string host, int port)
{
_host = host;
_port = port;
}
public Client(string host, int port, string username, string password) : this(host, port)
{
_auth = Convert.ToBase64String(System.Text.Encoding.UTF8.GetBytes(username + ":" + password));
}
public IEnumerable<NtripSource> GetSourceTable()
{
string data = "";
byte[] buffer = new byte[1024];
using (var sck = Request(""))
{
int count;
while ((count = sck.Receive(buffer)) > 0)
{
data += System.Text.Encoding.UTF8.GetString(buffer, 0, count);
}
}
var lines = data.Split('\n');
List<NtripSource> sources = new List<NtripSource>();
foreach (var item in lines)
{
var d = item.Split(';');
if (d.Length == 0) continue;
if (d[0] == "ENDSOURCETABLE")
break;
if (d[0] == "CAS")
{
sources.Add(new Caster(d));
}
else if (d[0] == "STR")
{
sources.Add(new NtripStream(d));
}
}
return sources;
}
private Socket Request(string path)
{
var sckt = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
sckt.Blocking = true;
sckt.Connect(_host, _port);
string msg = $"GET /{path} HTTP/1.1\r\n";
msg += "User-Agent: NTRIP ntripclient\r\n";
if (_auth != null)
{
msg += "Authorization: Basic " + _auth + "\r\n";
}
msg += "Accept: */*\r\nConnection: close\r\n";
msg += "\r\n";
byte[] data = System.Text.Encoding.ASCII.GetBytes(msg);
sckt.Send(data);
return sckt;
}
public void Connect(string strName)
{
if (sckt != null) throw new Exception("Connection already open");
sckt = Request(strName);
connected = true;
runningTask = Task.Run(ReceiveThread);
}
private async Task ReceiveThread()
{
byte[] buffer = new byte[65536];
while (connected && sckt != null)
{
int count = sckt.Receive(buffer);
if (count > 0)
{
DataReceived?.Invoke(this, buffer.Take(count).ToArray());
}
await Task.Delay(10);
}
sckt.Shutdown(SocketShutdown.Both);
sckt.Dispose();
sckt = null;
}
public Task CloseAsync()
{
if (runningTask != null)
{
connected = false;
var t = runningTask;
runningTask = null;
return t;
}
return Task.CompletedTask;
}
public void Dispose()
{
_ = CloseAsync();
}
public event EventHandler<byte[]>? DataReceived;
}
}

23
src/NmeaParser.Gnss/Ntrip/NtripSource.cs Normal file
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@ -0,0 +1,23 @@
// *******************************************************************************
// * Licensed under the Apache License, Version 2.0 (the "License");
// * you may not use this file except in compliance with the License.
// * You may obtain a copy of the License at
// *
// * http://www.apache.org/licenses/LICENSE-2.0
// *
// * Unless required by applicable law or agreed to in writing, software
// * distributed under the License is distributed on an "AS IS" BASIS,
// * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// * See the License for the specific language governing permissions and
// * limitations under the License.
// ******************************************************************************
namespace NmeaParser.Gnss.Ntrip
{
public class NtripSource
{
protected NtripSource()
{
}
}
}

46
src/NmeaParser.Gnss/Ntrip/NtripStream.cs Normal file
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@ -0,0 +1,46 @@
// *******************************************************************************
// * Licensed under the Apache License, Version 2.0 (the "License");
// * you may not use this file except in compliance with the License.
// * You may obtain a copy of the License at
// *
// * http://www.apache.org/licenses/LICENSE-2.0
// *
// * Unless required by applicable law or agreed to in writing, software
// * distributed under the License is distributed on an "AS IS" BASIS,
// * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// * See the License for the specific language governing permissions and
// * limitations under the License.
// ******************************************************************************
using System.Globalization;
namespace NmeaParser.Gnss.Ntrip
{
public class NtripStream : NtripSource
{
internal NtripStream(string[] d)
{
Mountpoint = d[1];
Identifier = d[2];
Format = d[3];
FormatDetails = d[4];
Carrier = (Carrier)int.Parse(d[5]);
Network = d[7];
CountryCode = d[8];
Latitude = double.Parse(d[9], CultureInfo.InvariantCulture);
Longitude = double.Parse(d[10], CultureInfo.InvariantCulture);
SupportsNmea = d[11] == "1";
}
public string Mountpoint { get; }
public string Identifier { get; }
public string Format { get; }
public string FormatDetails { get; }
public Carrier Carrier { get; }
public string Network { get; }
public string CountryCode { get; }
public double Latitude { get; }
public double Longitude { get; }
public bool SupportsNmea { get; }
}
}

20
src/NmeaParser.sln
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@ -37,8 +37,11 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "NmeaParser.Tests.Net", "Uni
EndProject
Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "SampleApp.NetCore", "SampleApp.WinDesktop\SampleApp.NetCore.csproj", "{6F97C607-42A0-458B-B9E9-CF5AF53CBB1E}"
EndProject
Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "NmeaParser.Gnss", "NmeaParser.Gnss\NmeaParser.Gnss.csproj", "{3ABEC519-B792-41D0-8462-1512B05276D6}"
EndProject
Global
GlobalSection(SharedMSBuildProjectFiles) = preSolution
UnitTests\NmeaParser.Tests\NmeaParser.Tests.projitems*{73efb2ef-de40-46c4-9685-745a9815c0d2}*SharedItemsImports = 5
UnitTests\NmeaParser.Tests\NmeaParser.Tests.projitems*{92cad93b-6c3b-45a0-a723-be046de50fec}*SharedItemsImports = 4
UnitTests\NmeaParser.Tests\NmeaParser.Tests.projitems*{979ae182-eb59-4181-9d45-3fd6e4817f11}*SharedItemsImports = 13
EndGlobalSection
@ -171,6 +174,22 @@ Global
{6F97C607-42A0-458B-B9E9-CF5AF53CBB1E}.Release|x64.Build.0 = Release|Any CPU
{6F97C607-42A0-458B-B9E9-CF5AF53CBB1E}.Release|x86.ActiveCfg = Release|Any CPU
{6F97C607-42A0-458B-B9E9-CF5AF53CBB1E}.Release|x86.Build.0 = Release|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Debug|Any CPU.Build.0 = Debug|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Debug|ARM.ActiveCfg = Debug|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Debug|ARM.Build.0 = Debug|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Debug|x64.ActiveCfg = Debug|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Debug|x64.Build.0 = Debug|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Debug|x86.ActiveCfg = Debug|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Debug|x86.Build.0 = Debug|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Release|Any CPU.ActiveCfg = Release|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Release|Any CPU.Build.0 = Release|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Release|ARM.ActiveCfg = Release|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Release|ARM.Build.0 = Release|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Release|x64.ActiveCfg = Release|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Release|x64.Build.0 = Release|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Release|x86.ActiveCfg = Release|Any CPU
{3ABEC519-B792-41D0-8462-1512B05276D6}.Release|x86.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
@ -187,6 +206,7 @@ Global
{48540D33-4349-42D2-9D49-144A7049565A} = {456E7573-3324-43CB-8BA0-8D9C300EEB50}
{73EFB2EF-DE40-46C4-9685-745A9815C0D2} = {28B8E327-C504-4E08-B2CE-09D1CBB8B904}
{6F97C607-42A0-458B-B9E9-CF5AF53CBB1E} = {7ABA337E-6748-484E-A0F4-E1715E1C95F1}
{3ABEC519-B792-41D0-8462-1512B05276D6} = {1701F3BA-A09C-4706-A612-24FD9340FC18}
EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {03788B53-C0BF-485B-AA19-A9EAB0E9AF7B}

57
src/NmeaParser/MessageAggregator.cs Normal file
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@ -0,0 +1,57 @@
using NmeaParser.Messages;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace NmeaParser
{
/// <summary>
/// Aggregates a group of messages, and raises an event once all messages has completed transmission
/// </summary>
public class MessageAggregator
{
private readonly Dictionary<string, NmeaMessage> _messages = new Dictionary<string, NmeaMessage>();
/// <summary>
/// Initializes a new instance of the <see cref="MessageAggregator"/> class.
/// </summary>
/// <param name="device"></param>
public MessageAggregator(NmeaDevice device)
{
if (device == null)
throw new ArgumentNullException(nameof(device));
Device = device;
Device.MessageReceived += Device_MessageReceived;
}
private void Device_MessageReceived(object sender, NmeaMessageReceivedEventArgs e)
{
if (_messages.ContainsKey(e.Message.MessageType))
{
var messages = _messages.Values.ToArray();
_messages.Clear();
OnMessagesReceived(messages);
MessagesReceived?.Invoke(this, messages);
}
_messages.Add(e.Message.MessageType, e.Message);
}
/// <summary>
/// Called when a group of messages have been received.
/// </summary>
protected virtual void OnMessagesReceived(NmeaMessage[] messages)
{
}
/// <summary>
/// Raised when a group of messages have been received.
/// </summary>
public event EventHandler<NmeaMessage[]> MessagesReceived;
/// <summary>
/// The device that's being listened to.
/// </summary>
public NmeaDevice Device { get; }
}
}