Yubeshi/Ubx/NavPosLlh.cs

   1 /*\r
   2  *      Yubeshi GPS Parser\r
   3  *\r
   4  *      This software is distributed under a zlib-style license.\r
   5  *      See license.txt for more information.\r
   6  */\r
   7 \r
   8 using System;\r
   9 using System.Collections.Generic;\r
  10 using System.Text;\r
  11 \r
  12 namespace Yubeshi.Ubx\r
  13 {\r
  14     public class NavPosLlh : Packet\r
  15     {\r
  16         #region constructors\r
  17 \r
  18         public NavPosLlh(byte[] sentence, int length)\r
  19             : base(sentence, length)\r
  20         {\r
  21         }\r
  22 \r
  23         #endregion\r
  24 \r
  25         #region properties\r
  26 \r
  27         public decimal TimeOfWeek\r
  28         {\r
  29             get\r
  30             {\r
  31                 return BitConverter.ToUInt32(Raw, 6 + 0) * 1e-3m;\r
  32             }\r
  33         }\r
  34 \r
  35         public GeodeticCoordinate Position\r
  36         {\r
  37             get\r
  38             {\r
  39                 Degree lon = BitConverter.ToInt32(Raw, 6 + 4) * 1e-7;\r
  40                 Degree lat = BitConverter.ToInt32(Raw, 6 + 8) * 1e-7;\r
  41                 Height h = new Height(\r
  42                                     BitConverter.ToUInt32(Raw, 6 + 12) * 1e-3, \r
  43                                     Height.Base.Ellipsoid);\r
  44                 return new GeodeticCoordinate(lat, lon, h);\r
  45             }\r
  46         }\r
  47 \r
  48         public Height MslHeight\r
  49         {\r
  50             get\r
  51             {\r
  52                 Height h = new Height(\r
  53                                     BitConverter.ToUInt32(Raw, 6 + 16) * 1e-3,\r
  54                                     Height.Base.MeanSeaLevel);\r
  55                 return h;\r
  56             }\r
  57         }\r
  58 \r
  59         public double HorizonalAccuracy\r
  60         {\r
  61             get\r
  62             {\r
  63                 return BitConverter.ToUInt32(Raw, 6 + 20) * 1e-3;\r
  64             }\r
  65         }\r
  66 \r
  67         public double VerticalAccuracy\r
  68         {\r
  69             get\r
  70             {\r
  71                 return BitConverter.ToUInt32(Raw, 6 + 24) * 1e-3;\r
  72             }\r
  73         }\r
  74         #endregion\r
  75 \r
  76         #region public methods\r
  77 \r
  78         public static bool TryParse(byte[] sentence, out UnknownPacket packet)\r
  79         {\r
  80             return TryParse(sentence, out packet, \r
  81                                             MessageID.NavPosLlh, 28, Build);\r
  82         }\r
  83 \r
  84         #endregion\r
  85 \r
  86         #region private methods\r
  87 \r
  88         private static Packet Build(byte[] sentence, int length)\r
  89         {\r
  90             return new NavPosLlh(sentence, length);\r
  91         }\r
  92 \r
  93         #endregion\r
  94     }\r
  95 }\r