using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;

using System.Text;

using System.Net;
using System.Net.Sockets;
using System.Threading;
using System.Collections;
using SafeMobileLib;
using System.Linq;



namespace CPlus_GW
{

    class LocationThread
    {
        private static Int32 reqID_send = 0x01;
        private string reqID;
        private Int32 reqID_recv;
        public int port;
        //public MotoTRBOGW parent;
        private byte[] data = new byte[1024];
        private static UdpClient udpClient;
        // -------------------------------------------------------------------
        // Main
        // -------------------------------------------------------------------
        private bool start_read = true;
        private UdpMulticast udpMulticast;

        private int ACCEPTED_LEVEL_OF_CONFIDENCE = 20;


        #region EVENTS
        public delegate void PollResponseReceived(Int64 radioID, DateTime locationTime, int speed, double latitude, double longitude, Int64 seqID);
        public event PollResponseReceived OnPollResponseReceived;

        public delegate void LocationReceived(Int64 radioID, DateTime locationTime, int speed, double latitude, double longitude);
        public event LocationReceived OnLocationReceived;
        #endregion

        public LocationThread()
        {
            Random rnd1 = new Random();
            reqID_send = (byte)rnd1.Next(0xffffff);
        }

        public void HandleConnection()
        {
            //TestPacket();
            //return;
            EndPoint reponseEndPoint = new IPEndPoint(0, 0);

            try
            {
                udpMulticast = new UdpMulticast(Program.cfg.multi_IP, Program.cfg.multi_port);
                SafeMobileLib.Utils.WriteLine($"Location thread successfully registered to multicast group [{Program.cfg.multi_IP}:{Program.cfg.multi_port}]", ConsoleColor.Cyan);
                //udpMulticast.OnNewDataRecv += UdpMulticast_OnNewDataRecv;
                //udpMulticast.OnNewDataRecv += new UdpMulticast.newData4Send(UdpMulticast_OnNewDataRecv);
                CPlusGW.TextQueue.PostItem("LocationThread started!!!");
                //udpMulticast.StartListen();
            }
            catch (Exception ex)
            {
                SafeMobileLib.Utils.WriteLine("LocationThread exception while joining the multicast group: " + ex.ToString(), ConsoleColor.Red);
            }

            while (true)
            {
                try
                {
                    MotoTRBOcmdMsg msg = CPlusGW.locationQueue.GetItem(100);
                    if (msg != null)
                    {
                        /*
                        if(udpClient!=null)
                            udpClient.Close();
                        udpClient = null;
                        */

                        ProcessCommand(msg);
                        start_read = true;
                    }
                    // read async
                    if (start_read)
                    {
                        //SafeMobileLib.Utils.WriteLine("Location Thread waiting message...");

                        start_read = false;
                        try
                        {
                            if (udpClient == null)
                            {
                                SafeMobileLib.Utils.WriteLine("Location udpClient is null. Recreating it on port " + Program.cfg.locPort_r, ConsoleColor.Yellow);
                                //Program.cfg.locPort_r = 9191;

                                RecreateAndBindUDPClient();

                                SafeMobileLib.Utils.WriteLine("ReBinding location udpClient", ConsoleColor.Yellow);
                            }
                            IPEndPoint remoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);

                            //SafeMobileLib.Utils.WriteLine("Before start async");
                            // Blocks until a message returns on this socket from a remote host.
                            udpClient.Client.BeginReceiveFrom(data, 0, data.Length,
                                SocketFlags.None, ref reponseEndPoint,
                                new AsyncCallback(AsyncRead),
                                (object)this);
                            //SafeMobileLib.Utils.WriteLine("After start async location udpClient");
                            Thread.Sleep(100);
                            //Console.WriteLine("AsyncRead started for Location thread on port:" + MotoTRBOGW.cfg.locPort_r);
                        }
                        catch (Exception ex)
                        {
                            SafeMobileLib.Utils.WriteLine("HandleConnection(): exception " + ex, ConsoleColor.Red);
                        }
                    }
                    else
                        Thread.Sleep(100);
                }
                catch (Exception ex)
                {
                    SafeMobileLib.Utils.WriteLine("Exception in LocationThread:HandleConnection(): \r\n\tData=" +
                        ex.Data + "\r\n\tSource=" +
                        ex.Source + "\r\n\tStackTrace=" +
                        ex.StackTrace + "\r\n\tMessage=" +
                        ex.Message + "\r\n\tInnerException=" +
                        ex.InnerException, ConsoleColor.Red); 
                }
            } // end while (true)
        }

        void AsyncRead(IAsyncResult result)
        {
            EndPoint remoteEndPoint = new IPEndPoint(0, 0);
            try
            {

                int? bytesRead = udpClient?.Client?.EndReceiveFrom(result, ref remoteEndPoint);

                //SafeMobileLib.Utils.WriteLine($"Location Thread read {bytesRead} bytes", ConsoleColor.Yellow);

                if (bytesRead > 1)
                {
                    
                    //Console.WriteLine("\n--------------------");
                    //Console.WriteLine("AsyncRead endded processing data!!!");

                    DecodePacket_Connect_plus(data);
                    start_read = true;
                }

                else
                    udpClient = null;

                if (bytesRead == null)
                {
                    SafeMobileLib.Utils.WriteLine($"Location thread udpclient is {(udpClient == null ? "null" : "not null")}", ConsoleColor.Yellow);
                }
            }
            catch(Exception ex)
            {
                //string str = Encoding.ASCII.GetString(data, 0, data.Length);

                SafeMobileLib.Utils.WriteLine($"Location Thread AsyncRead exception: {ex.ToString()}", ConsoleColor.Red);

            }
        }

      
        public void DecodePacket_Connect_plus_SDVersion(Byte[] data)
        {
            int i = 0, pdata;

            htCell_t cell = new htCell_t();
            cell.lat = "";
            cell.lng = "";
            cell.di = "0";
            cell.location_time = DateTime.MinValue;
            cell.activity_time = DateTime.MinValue;

            switch (data[0])
            {
                // -----------------------------------------------------------------------------------------------------------------------
                case (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT:
                case (byte)Document_Identifiers_ENUM.Triggered_Location_Answer_NoCDT:
                    /*
                    if (data[0] == (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT)
                        Console.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT);
                    else Console.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Answer_NoCDT);
                    */
                    pdata = (int)data[1];
                    //Console.WriteLine("Length =" + pdata + "(0x" + pdata.ToString("X") + ")");
                    for (i = 2; i < data[1] + 2; i++)
                    {
                        switch (data[i])
                        {
                            case (byte)Common_Element_Tokens_ENUM.request_id:
                                //Console.WriteLine(Common_Element_Tokens_ENUM.request_id + ": " + Byte2String(data, i + 1, 5));
                                i += 5;
                                break;

                            case (byte)Report_Messages_Tokens_ENUM.result:
                            case (byte)Report_Messages_Tokens_ENUM.result2:
                                //Console.WriteLine("Result: " + Byte2String(data, i + 1, 1));
                                if (data[i + 1] != 0)
                                {
                                    Console.WriteLine("Error = " + ProcessError(data[i + 1]));
                                }
                                //Console.WriteLine("OpaqueData: " + Byte2String(data, i + 2, data[1] - i));
                                i = data[1] + 1; // exit
                                break;
                            case (byte)Report_Messages_Tokens_ENUM.result1:
                                //Console.WriteLine("Result: OK");
                                break;
                            case (byte)Report_Messages_Tokens_ENUM.SU_IPv4:
                                string suid = ProcessSU_ID(data, i + 1).ToString();
                                cell.suid = suid;
                                i += 4;
                                //Console.Write("SUIDc: " + suid + " ### ");
                                break;
                        }
                    }
                    break;

                // -----------------------------------------------------------------------------------------------------------------------
                case (byte)Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT:
                case (byte)Document_Identifiers_ENUM.Immediate_Location_Report_NoCDT:
                    {
                        /*
                        if (data[0] == (byte)Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT)
                            Console.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT);
                        else
                            Console.WriteLine(Document_Identifiers_ENUM.Immediate_Location_Report_NoCDT);
                        */
                        pdata = (int)data[1];
                        Boolean parsingError = false;
                        byte parsErrorBYte = (byte)Result_Codes_ENUM.SYNTAX_ERROR;
                        DateTime gps_time = DateTime.MinValue;
                        for (i = 2; i < data[1] + 2; i++)
                        {
                            switch (data[i])
                            {
                                case (byte)Report_Messages_Tokens_ENUM.point_2d:
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();
                                    /*
                                    Console.WriteLine("Point_2d: " + data[i].ToString("X"));
                                    Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                     */
                                    i += 8;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.circle_2d:
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();
                                    cell.radius = ProcessUFloat2B(data, i + 1 + 8);
                                    /*
                                    Console.WriteLine("Circle_2d: " + data[i].ToString("X"));
                                    Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                    Console.WriteLine("Rad: " + Byte2String(data, i + 1 + 8, 2) + " =" + cell.radius);
                                     */
                                    i += 10;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.circle_3d:
                                case (byte)Report_Messages_Tokens_ENUM.circle_3d1:
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();
                                    cell.radius = ProcessUFloat2B(data, i + 1 + 8);
                                    /*
                                    Console.WriteLine("Circle_3d: " + data[i].ToString("X"));
                                    Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                    Console.WriteLine("Rad: " + Byte2String(data, i + 1 + 8, 2) + " =" + cell.radius);
                                    Console.WriteLine("Alt: " + Byte2String(data, i + 1 + 10, 2));
                                    Console.WriteLine("Ala: " + Byte2String(data, i + 1 + 12, 2));
                                     */
                                    i += 14;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.speed_vrt: //!! not tested
                                    //Console.WriteLine(Report_Messages_Tokens_ENUM.speed_vrt + ": " + Byte2String(data, i + 1, 2));
                                    i += 2;
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.speed_hor:
                                    cell.spd = (ProcessUFloat2B(data, i + 1) * 3.6).ToString();
                                    //Console.WriteLine(Report_Messages_Tokens_ENUM.speed_hor + ": " + Byte2String(data, i + 1, 2) + " =" + cell.spd);
                                    i += 2;
                                    break;
                                case (byte)Common_Element_Tokens_ENUM.request_id:
                                    //Console.WriteLine(Common_Element_Tokens_ENUM.request_id + ": " + Byte2String(data, i + 1, 5));
                                    i += 5;
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.info_time:
                                case (byte)Report_Messages_Tokens_ENUM.info_time1:
                                    gps_time = ProcessTime(data, i + 1, 5);
                                    //Console.WriteLine(Report_Messages_Tokens_ENUM.info_time + ": " + Byte2String(data, i + 1, 5) + " =" + gps_time);
                                    i += 5;
                                    break;

                                // RESULTS
                                case (byte)Report_Messages_Tokens_ENUM.result:
                                case (byte)Report_Messages_Tokens_ENUM.result2:
                                    //Console.WriteLine("Result: " + Byte2String(data, i + 1, 1));
                                    if (data[i + 1] != 0)
                                    {
                                        parsErrorBYte = data[i + 1];

                                        if (data[i + 1] == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_ATTAINABLE ||
                                            data[i + 1] == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_CURRENTLY_ATTAINABLE)
                                        {
                                            cell.lat = "0";
                                            cell.lng = "0";
                                            cell.spd = "0";
                                            gps_time = DateTime.UtcNow;
                                            //Console.WriteLine("INFO got QUERY_INFO_NOT_ATTAINABLE ...adding values lat=0,lng=0,time =DateTime.UtcNow");
                                        }
                                        else
                                        {
                                            SafeMobileLib.Utils.WriteLine("GPS returned with »» " + ProcessError(data[i + 1]));
                                            parsingError = true;
                                        }

                                    }
                                    //Console.WriteLine("OpaqueData: " + Byte2String(data, i + 2, data[1] - i));
                                    i = data[1] + 1; // exit
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.result1:
                                    //Console.WriteLine("Result: OK");
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.SU_IPv4:
                                    string suid = ProcessSU_ID(data, i + 1).ToString();
                                    cell.suid = suid;
                                    //Console.Write("SUID: " +suid+" ### ");
                                    i += 4;
                                    break;

                                default:
                                    Console.WriteLine("Unknown: 0x" + data[i].ToString("X"));
                                    break;
                            }
                        }

                        if (!parsingError)
                        {
                            try
                            {
                                if (cell!= null && cell.suid != null)
                                {
                                    cell.spd = cell.spd ?? "0";
                                    cell.lat = cell.lat ?? "0";
                                    cell.lng = cell.lng ?? "0";

                                    double d = 0;
                                    if (!Double.TryParse(cell.spd, out d))
                                        cell.spd = "0";
                                    if (!Double.TryParse(cell.lat, out d))
                                        cell.lat = "0";
                                    if (!Double.TryParse(cell.lng, out d))
                                        cell.lng = "0";


                                    String[] toSendString = new String[4];
                                    toSendString[0] = DateTo70Format(DateTime.UtcNow).ToString();
                                    toSendString[1] = cell.spd;
                                    toSendString[2] = cell.lat;
                                    toSendString[3] = cell.lng;

                                    String consoleMessage = String.Format("Position [{0:0.0000},{1:0.0000}] from {2}", Math.Round(Double.Parse(cell.lat), 4),
                                                                        Math.Round(Double.Parse(cell.lng), 4), cell.suid);

                                    SafeMobileLib.Utils.WriteLine("»»» " + consoleMessage, ConsoleColor.Green);

                                    CPlusGW.TextQueue.PostItem(consoleMessage);//"GPS for unit:" + cell.suid + " LAT:" + cell.lat.ToString() + " LNG:" + cell.lng.ToString());
                                    Byte[] toSendMulticast = createLocationMessage(131, cell.suid, toSendString);
                                    if (udpMulticast != null)
                                        udpMulticast.Send(toSendMulticast, toSendMulticast.Length);
                                    else
                                        SafeMobileLib.Utils.WriteLine("Unable to send position on multicast (it is null)", ConsoleColor.Red);


                                    //Console.WriteLine("SUID:" + cell.suid + " LAT:" + cell.lat.ToString() + " LNG:" + cell.lng.ToString());
                                    //SM.Debug("Location thread successfully sent data to message bus");
                                }
                            }
                            catch (Exception ex)
                            {
                                SafeMobileLib.Utils.WriteLine("Decode Message error: " + ex.ToString(), ConsoleColor.Red);
                            }
                        }
                    }
                    break;

                // -----------------------------------------------------------------------------------------------------------------------
                default:
                    Console.WriteLine("UNDEFINED 0x" + data[0].ToString("X"));
                    break;
            }
        }



        public void DecodePacket_Connect_plus(Byte[] data)
        {
            int i = 0, pdata;

            htCell_t cell = new htCell_t();
            cell.lat = "";
            cell.lng = "";
            cell.di = "0";
            cell.spd = "0";
            cell.spd_v = "0";
            cell.suid = "";
            cell.location_time = DateTime.MinValue;
            cell.activity_time = DateTime.MinValue;
            cell.triggered = false;
            cell.level_confidence = -1;

            switch (data[0])
            {
                // -----------------------------------------------------------------------------------------------------------------------
                case (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT:
                case (byte)Document_Identifiers_ENUM.Triggered_Location_Answer_NoCDT:
                    /*
                    if (data[0] == (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT)
                        SafeMobileLib.Utils.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT + "");
                    else
                        SafeMobileLib.Utils.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Answer_NoCDT + "");
                        */
                    pdata = (int)data[1];
                    string result = "";
                    //Console.WriteLine("Length =" + pdata + "(0x" + pdata.ToString("X") + ")");
                    for (i = 2; i < data[1] + 2; i++)
                    {
                        switch (data[i])
                        {
                            case (byte)Common_Element_Tokens_ENUM.request_id:
                                //Console.WriteLine(Common_Element_Tokens_ENUM.request_id + ": " + Byte2String(data, i + 1, 5));

                                //Console.WriteLine(data[i + 5]);
                                byte[] bytes = { data[i + 5], data[i + 4], data[i + 3], data[i + 2] };
                                reqID = Byte2String(data, i + 1, 5);
                                reqID_recv = BitConverter.ToInt32(bytes, 0);

                                cell.seq_ID = Byte2String(data, i + 2, data[i + 1]) + "";
                                cell.requestID = data[i + 5];
                                i += 5;
                                break;

                            case (byte)Report_Messages_Tokens_ENUM.result:
                            case (byte)Report_Messages_Tokens_ENUM.result2:
                                //Console.WriteLine("Result: " + Byte2String(data, i + 1, 1));
                                if (data[i + 1] != 0)
                                {
                                    SafeMobileLib.Utils.WriteLine("GPS returned with » " + ProcessError(data[i + 1]), ConsoleType.GPS);
                                    result = ProcessError(data[i + 1]);
                                }
                                //Console.WriteLine("OpaqueData: " + Byte2String(data, i + 2, data[1] - i));
                                i = data[1] + 1; // exit
                                break;
                            case (byte)Report_Messages_Tokens_ENUM.result1:
                                //Console.WriteLine("Result: OK");
                                result = "OK";
                                break;
                            case (byte)Report_Messages_Tokens_ENUM.SU_IPv4:
                                string suid = ProcessSU_ID(data, i + 1).ToString();
                                cell.suid = suid;
                                i += 4;
                                //Console.Write("SUIDc: " + suid + " ### ");
                                break;
                        }
                    }
                    /*
                    LOGS.LOG("Debug: LOCK3");
                    //remove message from pending
                    lock (ht_pendingMsg.SyncRoot)
                    {
                        try
                        {
                            if (reqID_recv != null && ht_pendingMsg.ContainsKey(reqID_recv))
                            {
                                //LOGS.LOG(ConnectPlus_GW.cfg.gw_id + cell.suid + " removing from pending \t regID:" + reqID);
                                ht_pendingMsg.Remove(reqID_recv);

                            }
                        }
                        catch (Exception e)
                        {
                            LOGS.LOG("Error: cannot delete pending messages HashTable" + e.ToString());
                        }
                    }
                    LOGS.LOG("Debug: UN-LOCK3");
                    */
                    /*
                    if (data[0] == (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT)
                        SafeMobileLib.Utils.WriteLine(cell.suid + " Triggered_Location_Stop_Answer_NoCDT \t regID:" + reqID + " \t result:" + result);
                    else
                        SafeMobileLib.Utils.WriteLine(cell.suid + " Triggered_Location_Answer_NoCDT \t regID:" + reqID + " \t result:" + result);*/
                    break;

                // -----------------------------------------------------------------------------------------------------------------------
                case (byte)Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT:
                case (byte)Document_Identifiers_ENUM.Immediate_Location_Report_NoCDT:
                    {
                        /*
                        if (data[0] == (byte)Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT)
                            Console.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT);
                        else
                            Console.WriteLine(Document_Identifiers_ENUM.Immediate_Location_Report_NoCDT);
                        */
                        if (data[0] == (byte)Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT)
                        {
                            cell.triggered = true;
                        }
                        else
                        {
                            //Utils.ConsWrite(DebugMSG_Type.DEV, "Got request id:" + cell.requestID);
                        }

                        pdata = (int)data[1];
                        Boolean parsingError = false;
                        byte parsErrorBYte = (byte)Result_Codes_ENUM.SYNTAX_ERROR;
                        DateTime gps_time = DateTime.MinValue;
                        for (i = 2; i < data[1] + 2; i++)
                        {
                            switch (data[i])
                            {
                                case (byte)Report_Messages_Tokens_ENUM.point_2d:
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    cell.d_lat = ProcessLat(data, i + 1, 4);
                                    cell.d_lng = ProcessLng(data, i + 1 + 4, 4);
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();
                                    /*
                                    Console.WriteLine("Point_2d: " + data[i].ToString("X"));
                                    Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                     */
                                    i += 8;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.point_3d:
                                    //Console.WriteLine("### Point 3d ###");
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    cell.d_lat = ProcessLat(data, i + 1, 4);
                                    cell.d_lng = ProcessLng(data, i + 1 + 4, 4);
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();

                                    i += 11;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.circle_2d:
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    cell.d_lat = ProcessLat(data, i + 1, 4);
                                    cell.d_lng = ProcessLng(data, i + 1 + 4, 4);
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();
                                    cell.radius = ProcessUFloat2B(data, i + 1 + 8);
                                    /*
                                    Console.WriteLine("Circle_2d: " + data[i].ToString("X"));
                                    Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                    Console.WriteLine("Rad: " + Byte2String(data, i + 1 + 8, 2) + " =" + cell.radius);
                                     */
                                    i += 10;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.circle_3d:
                                case (byte)Report_Messages_Tokens_ENUM.circle_3d1:
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    cell.d_lat = ProcessLat(data, i + 1, 4);
                                    cell.d_lng = ProcessLng(data, i + 1 + 4, 4);
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();
                                    cell.radius = ProcessUFloat2B(data, i + 1 + 8);
                                    /*
                                    Console.WriteLine("Circle_3d: " + data[i].ToString("X"));
                                    Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                    Console.WriteLine("Rad: " + Byte2String(data, i + 1 + 8, 2) + " =" + cell.radius);
                                    Console.WriteLine("Alt: " + Byte2String(data, i + 1 + 10, 2));
                                    Console.WriteLine("Ala: " + Byte2String(data, i + 1 + 12, 2));
                                     */
                                    //if (!cell.triggered) Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    //if (!cell.triggered) Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                    i += 14;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.speed_vrt: //!! not tested
                                    cell.spd_v = Math.Round((ProcessUFloat2B(data, i + 1) * 3.6)).ToString();
                                    //Console.WriteLine(Report_Messages_Tokens_ENUM.speed_vrt + ": " + Byte2String(data, i + 1, 2) + " =" + cell.spd_v);
                                    i += 2;
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.speed_hor:
                                    cell.spd = Math.Round((ProcessUFloat2B(data, i + 1) * 3.6)).ToString();
                                    //Console.WriteLine(Report_Messages_Tokens_ENUM.speed_hor + ": " + Byte2String(data, i + 1, 2) + " =" + cell.spd);
                                    i += 2;
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.lev_conf: //!! not tested
                                    cell.level_confidence = (int)data[i + 1];
                                    //Console.WriteLine(Report_Messages_Tokens_ENUM.lev_conf + ": " + Byte2String(data, i + 1, 1) + " =" + cell.level_confidence) ;
                                    i += 1;
                                    break;

                                case (byte)Common_Element_Tokens_ENUM.request_id:
                                    cell.seq_ID = Byte2String(data, i + 2, data[i + 1]) + "";
                                    cell.requestID = data[i + 1 + data[i + 1]];
                                    //if (!cell.triggered) Console.WriteLine(Common_Element_Tokens_ENUM.request_id + ": " + Byte2String(data, i + 1, 5));
                                    i += 5;
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.info_time:
                                case (byte)Report_Messages_Tokens_ENUM.info_time1:
                                    gps_time = ProcessTime(data, i + 1, 5);
                                    //Console.WriteLine("INFO_TIME: " + Report_Messages_Tokens_ENUM.info_time + ": " + Byte2String(data, i + 1, 5) + " =" + gps_time);
                                    i += 5;
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.SU_IPv4:
                                    string suid = ProcessSU_ID(data, i + 1).ToString();
                                    cell.suid = suid;
                                    //Utils.ConsWrite(DebugMSG_Type.GPS, "SUID: " + suid + " ### ");
                                    //if (!cell.triggered) 
                                    // Utils.ConsWrite(DebugMSG_Type.DEV, "SUID: " + suid + " ### ");
                                    i += 4;
                                    break;
                                // RESULTS
                                case (byte)Report_Messages_Tokens_ENUM.result:
                                case (byte)Report_Messages_Tokens_ENUM.result2:
                                    //Console.WriteLine("Result: " + Byte2String(data, i + 1, 1));
                                    if (data[i + 1] != 0)
                                    {
                                        parsErrorBYte = data[i + 1];

                                        if (data[i + 1] == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_ATTAINABLE ||
                                            data[i + 1] == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_CURRENTLY_ATTAINABLE)
                                        {
                                            cell.lat = "0";
                                            cell.lng = "0";
                                            cell.spd = "0";
                                            gps_time = DateTime.UtcNow;
                                            //Console.WriteLine("INFO got QUERY_INFO_NOT_ATTAINABLE ...adding values lat=0,lng=0,time =DateTime.UtcNow");
                                        }
                                        else
                                        {
                                            SafeMobileLib.Utils.WriteLine("GPS returned with »» " + ProcessError(data[i + 1]), ConsoleType.GPS);
                                            parsingError = true;
                                        }

                                    }
                                    //Console.WriteLine("OpaqueData: " + Byte2String(data, i + 2, data[1] - i));
                                    i = data[1] + 1; // exit
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.result1:
                                    //Console.WriteLine("Result: OK");
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.direction_hor:
                                    i += 1;
                                    break;

                                default:
                                    SafeMobileLib.Utils.WriteLine("Unknown: 0x" + data[i].ToString("X"), ConsoleType.GPS);
                                    break;
                            }
                        }

                        Vehicles veh = MainForm.vehicles.FirstOrDefault(d => d.Imei.Equals(cell.suid));

                        if (veh == null || !veh.Active)
                        {
                            SafeMobileLib.Utils.WriteLine($"Location received from unit {cell.suid} that is not defined in the admin", ConsoleColor.White);
                            Thread.Sleep(100);
                            break;
                        }


                        if (gps_time == DateTime.MinValue)
                            SafeMobileLib.Utils.WriteLine("GPS gps_time == DateTime.MinValue", ConsoleType.GPS);
                        else if (!parsingError ||
                            (((parsErrorBYte == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_ATTAINABLE) ||
                                (parsErrorBYte == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_CURRENTLY_ATTAINABLE)) && (!cell.triggered)))
                        {
                            //Utils.ConsWrite(DebugMSG_Type.DEV, "Got location from" + cell.suid);
                            cell.location_time = DateTime.UtcNow;

                            // check if the position fulfilled the requirements  for LoC
                            if (cell.level_confidence == -1)
                            {
                                // message didn't contained any level of confidence information
                            }
                            else if (cell.level_confidence < ACCEPTED_LEVEL_OF_CONFIDENCE)
                            {
                                cell.lat = "0";
                                cell.lng = "0";
                                cell.spd = "0";
                                cell.location_time = DateTime.UtcNow;
                            }

                            try
                            {
                                if (cell != null && cell.suid != null)
                                {
                                    cell.spd = cell.spd ?? "0";
                                    cell.lat = cell.lat ?? "0";
                                    cell.lng = cell.lng ?? "0";

                                    double d = 0;
                                    if (!Double.TryParse(cell.spd, out d))
                                        cell.spd = "0";
                                    if (!Double.TryParse(cell.lat, out d))
                                        cell.lat = "0";
                                    if (!Double.TryParse(cell.lng, out d))
                                        cell.lng = "0";


                                    String[] toSendString = new String[4];
                                    toSendString[0] = DateTo70Format(DateTime.UtcNow).ToString();
                                    toSendString[1] = cell.spd;
                                    toSendString[2] = cell.lat;
                                    toSendString[3] = cell.lng;

                                    String consoleMessage = String.Format((cell.triggered ? "Position " : "Poll response ") + "[{0:0.0000},{1:0.0000}] from {2}", Math.Round(Double.Parse(cell.lat), 4),
                                                                        Math.Round(Double.Parse(cell.lng), 4), cell.suid);
                                    SafeMobileLib.Utils.WriteLine("»»» " + consoleMessage, ConsoleColor.Green);

                                    // post message to be added in the UI
                                    CPlusGW.TextQueue.PostItem(consoleMessage);

                                    Byte[] toSendMulticast = SafeMobileLib.Utils.createLocationMessage(cell.triggered ? 131 : 231, cell.suid, toSendString);
                                    udpMulticast.Send(toSendMulticast, toSendMulticast.Length);

                                }

                            }
                            catch (Exception ex)
                            {
                                SafeMobileLib.Utils.WriteLine("[Location Thread]: " + ex.ToString(), ConsoleColor.Red);
                            }
                        }
                        else if (parsErrorBYte == (byte)Result_Codes_ENUM.PROTOCOL_ELEMENT_NOT_SUPPORTED)
                        {
                            // this is error is generated whenever a location request sent to a field radio contains 
                            // required information that are not supported by that station
                            //SendTriggeredLocationSTOP(cell.suid, cell.requestID);

                            // send Triggered Location Request which contains the level of confidence
                            reqID_send++;
                            if (reqID_send == Int32.MaxValue)
                                reqID_send = 1;
                            SafeMobileLib.Utils.WriteLine("PROTOCOL_ELEMENT_NOT_SUPPORTED for unit " + cell.suid, ConsoleColor.Magenta);
                            //SendTriggeredLocationRequest(cell.suid, (uint)((SUinfo)SN_Queues.ht_SUInfo[cell.suid]).repInterval, reqID_send);
                        }
                    }
                    break;

                // -----------------------------------------------------------------------------------------------------------------------
                default:
                    SafeMobileLib.Utils.WriteLine("UNDEFINED 0x" + data[0].ToString("X"), ConsoleType.GPS);
                    break;
            }
        }



        void ProcessCommand(MotoTRBOcmdMsg p_msg)
        {
            reqID_send++;
            if (reqID_send == Int32.MaxValue)
                reqID_send = 1;

            try
            {
                if (p_msg.m_cmd == (byte)MotoTRBOcmd.SET_REPORT_INTERVAL)
                    SendTriggeredLocationRequest(p_msg.m_suid, Convert.ToUInt32(p_msg.m_payload));
            }
            catch (Exception e)
            {
                Console.WriteLine("Could not send Location Request to unit");
                Console.WriteLine(e.Message);
            }

        }

        private static UdpClient sendUdpClient = new UdpClient();

        public void SendTriggeredLocationRequest(string SUID, uint p_reportSec)
        {
            byte[] intBytes = BitConverter.GetBytes(reqID_send);
            if (BitConverter.IsLittleEndian)
                Array.Reverse(intBytes);

            byte[] arr_radioID = Utils.ID2ByteARR("12", SUID);
            Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Triggered_Location_Request_NoCDT, 
                                    0x10, // length in Bytes
                                    (byte)Common_Element_Tokens_ENUM.request_id,
                                    0x04, intBytes[0], intBytes[1], intBytes[2], intBytes[3], 
                                    //0x04, 0x24, 0x68, 0xAC, 0xE0, 
                                    (byte)Query_Request_Messages_Tokens_ENUM.SU_IPv4,
                                    arr_radioID[0],
                                    arr_radioID[1],
                                    arr_radioID[2],
                                    arr_radioID[3],
                                    0x51, 
                                    (byte)Query_Request_Messages_Tokens_ENUM.request_speed_hor,

                                    (byte)Query_Request_Messages_Tokens_ENUM.periodic_trigger, 
                                    (byte)Query_Request_Messages_Tokens_ENUM.interval, 
                                    0x00, 0x00 //(byte)report_time// in seconds                    
            };

            try
            {
                if (sendUdpClient == null)
                {
                    //SafeMobileLib.Utils.WriteLine("Creating udp client for sending Location request on port " + Program.cfg.locPort, ConsoleColor.Cyan);
                    sendUdpClient = new UdpClient(Program.cfg.locPort);
                }

                int report_time = (int)p_reportSec;

                if (report_time < 0x80)
                {
                    //sendBytes[10] = (byte)report_time;
                    sendBytes[17] = (byte)report_time;
                }
                else
                {
                    sendBytes[1] += 1; // adjust length

                    int process = report_time;                   // MSB
                    process >>= 7;
                    process &= 0x007F;
                    process |= 0x0080;

                    sendBytes[17] = (byte)process;
                    sendBytes[18] = (byte)(report_time & 0x007F); //LSB
                }

                SendOnUDP(sendBytes, sendBytes.Length);
                SafeMobileLib.Utils.WriteLine($"Triggered location request sent to radio ID {SUID} [{report_time} seconds]", ConsoleColor.White);
                /*
                //Print(sendBytes, sendBytes.Length, false);
                udpClient.Send(sendBytes, sendBytes.Length, new IPEndPoint(IPAddress.Parse(Program.cfg.ctrlIP), Program.cfg.locPort));
                //udpClient.Send(sendBytes, new IPEndPoint(IPAddress.Parse(MotoTRBOGW.cfg.ctrlIP), MotoTRBOGW.cfg.locPort));
                
                udpClient.Close();
                udpClient = null;*/
            }
            catch (Exception ex)
            {
                SafeMobileLib.Utils.WriteLine("Location Thread SendTriggeredLocationRequest exception: " + ex.ToString(), ConsoleColor.Red);
            }
        }


        private void RecreateAndBindUDPClient()
        {
            
            udpClient = new UdpClient();
            udpClient.Client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
            udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, Program.cfg.locPort_r));

        }


        private static void RecreateSendingUdpClient()
        {
            if (sendUdpClient == null)
            {
                SafeMobileLib.Utils.WriteLine("Creating udp client for sending Location request on port " + Program.cfg.locPort, ConsoleColor.Cyan);
                sendUdpClient = new UdpClient(Program.cfg.locPort);
            }
        }

        private void UdpMulticast_OnNewDataRecv(byte[] data, int dataLen)
        {
            string str = Encoding.ASCII.GetString(data, 0, dataLen);
            try
            {
                SafeMobileLib.Utils.WriteLine("RECEIVED FROM LOCATION THREAD " + str);
                String[] tempArray = str.Trim().Split('#');
                if (tempArray.Length > 3)
                    if (tempArray[3].Equals("154"))
                    {
                        string SUID = tempArray[4];

                        String consoleMessage = String.Format($"Poll request received for unit {SUID}");
                        SafeMobileLib.Utils.WriteLine("»»» " + consoleMessage, ConsoleColor.White);
                        CPlusGW.TextQueue.PostItem(consoleMessage);

                        SendPollLocationRequest(SUID);
                    }
            }
            catch (Exception ex)
            {
                SafeMobileLib.Utils.WriteLine("udpMulticast_OnNewDataRecv Exception: " + str, ConsoleColor.Red);
            }
        }



        /// <summary>
        /// Request a field radio to report immediate its location [also know as poll]
        /// </summary>
        /// <param name="SUID">The field radio ID which needs to send imeediate its location</param>
        /// <param name="reqID">The triggered location ID for this poll request</param>
        public static void SendPollLocationRequest(string SUID)
        {
            Int32 reqID = ++reqID_send;
            byte[] arr_radioID = Utils.ID2ByteARR("12", SUID);
            //get reqid bytes
            byte[] intBytes = BitConverter.GetBytes(reqID);
            if (BitConverter.IsLittleEndian)
                Array.Reverse(intBytes);

            Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Immediate_Location_Request_NoCDT,
                                    0x0D, // length in Bytes
                                    (byte)Common_Element_Tokens_ENUM.request_id,
                                    0x04, intBytes[0], intBytes[1], intBytes[2], intBytes[3],
                                    (byte)Query_Request_Messages_Tokens_ENUM.SU_IPv4,
                                    arr_radioID[0],
                                    arr_radioID[1],
                                    arr_radioID[2],
                                    arr_radioID[3],
                                    0x51,
                                    (byte)Query_Request_Messages_Tokens_ENUM.request_speed_hor
            };

            bool result = SendOnUDP(sendBytes, sendBytes.Length);
            string consoleMessage = String.Format("{0} POLL location request for {1} [{2}]", (result ? "««« Sent" : "ooo Not Sent "), SUID, reqID);

            SafeMobileLib.Utils.WriteLine(consoleMessage, ConsoleColor.DarkGreen);
        }



        /// <summary>
        /// Send a byte array on UDP
        /// </summary>
        /// <param name="sendBytes">The byte array which needs to be sent on UDP</param>
        /// <param name="length"></param>
        /// <returns></returns>
        private static bool SendOnUDP(byte[] sendBytes, int length)
        {
            try
            {
                RecreateSendingUdpClient();

                sendUdpClient.Send(sendBytes, length, new IPEndPoint(IPAddress.Parse(Program.cfg.ctrlIP), Program.cfg.locPort));
                sendUdpClient.Close();
                sendUdpClient = null;

                return true;
            }
            catch (Exception ex)
            {
                SafeMobileLib.Utils.WriteLine("[Location Thread] Send on UDP exception: " + ex.ToString(), ConsoleColor.Red);
                return false;
            }
        }



        // -------------------------------------------------------------------
        // Aux functions
        // -------------------------------------------------------------------


        static public string Byte2String(byte[] data)
        {
            string sdata = "";
            int i;

            for (i = 0; i < data.Length; i++)
            {
                int ii;
                ii = (int)data[i];
                sdata += "0x" + ii.ToString("X") + " ";
            }
            return sdata;
        }

        static public string Byte2String(byte[] data, int startIndex, int len)
        {
            string sdata = "";
            int i;

            if (startIndex > data.Length)
                return "";

            for (i = startIndex; i < startIndex + len && i < data.Length; i++)
            {
                int ii;
                ii = (int)data[i];
                sdata += "0x" + ii.ToString("X") + " ";
            }
            return sdata;
        }

        static string ProcessError(Byte err)
        {
            switch (err)
            {
                case (byte)Result_Codes_ENUM.SUCCESS: return "" + Result_Codes_ENUM.SUCCESS;
                case (byte)Result_Codes_ENUM.UNSUPPORTED_VERSION: return "" + Result_Codes_ENUM.UNSUPPORTED_VERSION;
                case (byte)Result_Codes_ENUM.SYNTAX_ERROR: return "" + Result_Codes_ENUM.SYNTAX_ERROR;
                case (byte)Result_Codes_ENUM.PROTOCOL_ELEMENT_NOT_SUPPORTED: return "" + Result_Codes_ENUM.PROTOCOL_ELEMENT_NOT_SUPPORTED;
                case (byte)Result_Codes_ENUM.PROTOCOL_ELEMENT_VALUE_OUT_OF_RANGE: return "" + Result_Codes_ENUM.PROTOCOL_ELEMENT_VALUE_OUT_OF_RANGE;
                case (byte)Result_Codes_ENUM.QUERY_INFO_NOT_ATTAINABLE: return "" + Result_Codes_ENUM.QUERY_INFO_NOT_ATTAINABLE;
                case (byte)Result_Codes_ENUM.NO_SUCH_REQUEST: return "" + Result_Codes_ENUM.NO_SUCH_REQUEST;
                case (byte)Result_Codes_ENUM.DUPLICATE_REQUEST_ID: return "" + Result_Codes_ENUM.DUPLICATE_REQUEST_ID;
            }
            return "Unknown err";

        }

        static public double ProcessUFloat2B(Byte[] data, int startIndex)
        {
            int aux = data[startIndex];
            aux &= 0xff;
            int int_part = 0;
            int i=0;

            // get the int part
            while ((aux & 0x80) != 0)
            {
                //Console.Write("<" + aux.ToString("X") + ">");
                int_part |= (aux ^ 0x80);
                int_part <<= 7;
                i++;
                aux = data[startIndex+i];
                aux &= 0xff;
                //Console.Write("[" + int_part.ToString("X") + "]");
            }
            //Console.Write("<" + aux.ToString("X") + ">");
            int_part |= aux;
            //Console.Write("[" + int_part.ToString("X") + "]");

            // ignore the float part
            i++;
            while ((data[startIndex + i] & 0x80) != 0)
            {
                //Console.Write("<" + data[startIndex + i] + ">");
                i++;
            }

            //Console.WriteLine();
            return (double)int_part;
        }

        static DateTime ProcessTime(Byte[] data, int startIndex, int len)
        {
            // (yyyy*2^26) + (MM*2^22) + (DD*2^17) + (hh*2^12) + (mm*2^6) + ss
            Byte B1 = data[startIndex];
            Byte B2 = data[startIndex + 1];
            Byte B3 = data[startIndex + 2];
            Byte B4 = data[startIndex + 3];
            Byte B5 = data[startIndex + 4];

            int hh, mm, ss, YY, MM, DD;
            ss = B5 & 0x3F; // remove first 2b

            mm = B4 & 0x0F;
            mm <<= 2;
            mm |= ((B5 >> 6) & 0x03);

            hh = B3 & 0x01;
            hh <<= 4;
            hh |= ((B4 & 0xf0) >> 4);

            DD = B3 & 0x3E;
            DD >>= 1;

            MM = B2 & 0x03;
            MM <<= 2;
            MM |= ((B3 >> 6) & 0x03);

            YY = B1;
            YY <<= 6;
            YY |= ((B2 >> 2) & 0x3F);

            //Console.WriteLine("YY=" + YY.ToString("X"));
            //Console.WriteLine("MM=" + MM.ToString("X"));
            //Console.WriteLine("DD=" + DD.ToString("X"));
            //Console.WriteLine("hh=" + hh.ToString("X"));
            //Console.WriteLine("mm=" + mm.ToString("X"));
            //Console.WriteLine("ss=" + ss.ToString("X"));

            //Console.WriteLine("GPSTime : " + YY + "/" + MM + "/" + DD + " " + hh + ":" + mm + ":" + ss);
            return new DateTime(YY, MM, DD, hh, mm, ss, DateTimeKind.Utc);
        }

        static double ProcessLat(Byte[] data, int startIndex, int len)
        {
            bool sign = false;
            if ((data[startIndex] & 0x80) != 0)
            {
                sign = true;
            }
            ulong l = (ulong)data[startIndex];
            if (sign)
                l ^= 0x80; // remove the sign

            l <<= 8;
            l |= (ulong)data[startIndex + 1];
            l <<= 8;
            l |= (ulong)data[startIndex + 2];
            l <<= 8;
            l |= (ulong)data[startIndex + 3];


            //Console.WriteLine("lat ulong=0x" + l.ToString("X"));

            double ld = (double)l;
            ld *= 90;
            ld /= 1024;
            ld /= 1024;
            ld /= 1024;
            ld /= 2;
            if (sign)
                ld *= -1;

            return ld;
        }

        static double ProcessLng(Byte[] data, int startIndex, int len)
        {
            bool sign = false;
            if ((data[startIndex] & 0x80) != 0)
            {
                sign = true;
            }
            //Console.WriteLine("data[]=" + data[startIndex].ToString("X") + " sign=" + sign);
            ulong l = (ulong)data[startIndex];
            if (sign)
                l ^= 0x80; // remove the sign

            l <<= 8;
            l |= (ulong)data[startIndex + 1];
            l <<= 8;
            l |= (ulong)data[startIndex + 2];
            l <<= 8;
            l |= (ulong)data[startIndex + 3];


            //Console.WriteLine("lng ulong=0x" + l.ToString("X"));

            double ld = (double)l;
            ld *= 360;
            ld /= 1024;
            ld /= 1024;
            ld /= 1024;
            ld /= 4;

            if (sign)
            {
                ld = 180 - ld;
                ld *= -1;
            }
            return ld;
        }

        private int ProcessSU_ID(Byte[] data, int startIndex)
        {
            Byte B1 = data[startIndex];
            Byte B2 = data[startIndex + 1];
            Byte B3 = data[startIndex + 2];
            Byte B4 = data[startIndex + 3];

            int radioID = B4 + B3 * 256 + B2 * 256 * 256;
            return radioID;
        }

        private static void Print(byte[] data, int length, bool inOut)
        {
            //Console.Clear();
            Console.WriteLine("--------------------------------------------------------------------------- " + length);
            Console.Write("Data (" + ((inOut) ? "RECEIVED" : "SENT") + "): ");
            for (int i = 0; i < length; i++)
                Console.Write(" 0x" + data[i].ToString("X2"));
            Console.WriteLine("");
            Console.WriteLine("--------------------------------------------------------------------------- ");
        }

        public static Byte[] createLocationMessage(int opCode, string suid, String[] dataString)
        {
            string msg = "";
            msg = "#1." + GetSecondsLocalFromDT(DateTime.Now).ToString() + DateTime.Now.Millisecond.ToString() + "#" + opCode + "#" + suid + "#";
            msg = msg + dataString[0] + "#" + dataString[1] + "#" + dataString[2] + "#" + dataString[3];
            int totalSize = 5 + msg.Length;
            string sizeMsg = String.Format("#{0:000}", totalSize);
            msg = sizeMsg + msg;
            Byte[] toSendMulticast = new Byte[totalSize];
            System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
            Byte[] toSendMulticastPartial = encoding.GetBytes(msg);
            for (int i = 0; i < toSendMulticastPartial.Length; i++)
            {
                toSendMulticast[i] = toSendMulticastPartial[i];
            }
            toSendMulticast[totalSize - 1] = 35;//'#'            
            return toSendMulticast;
        }

        public static Int32 GetSecondsLocalFromDT(DateTime param)
        {
            System.DateTime datetime = param;
            long nOfSeconds;
            System.DateTime dt70 = new DateTime(1970, 1, 1, 0, 0, 0, 0);
            System.DateTime dttmp1 = new DateTime(1970, 1, 1, 0, 0, 0, 0);
            System.DateTime dttmp2;
            dttmp2 = dttmp1.ToLocalTime();
            TimeSpan span2 = dttmp2 - dttmp1;
            TimeSpan span = datetime - dt70;
            //nOfSeconds = (long)span.TotalSeconds - (long)span2.TotalSeconds -3600; //mai scot o ora - 3600
            if (System.TimeZone.CurrentTimeZone.IsDaylightSavingTime(param)) nOfSeconds = (long)span.TotalSeconds - (long)span2.TotalSeconds - 3600; //mai scot o ora - 3600
            else nOfSeconds = (long)span.TotalSeconds - (long)span2.TotalSeconds;
            return ((Int32)nOfSeconds);
        }

        private uint DateTo70Format(DateTime param)
        {
            long nOfSeconds;
            //Console.WriteLine("DateTo70Format param=" + param);
            System.DateTime dt70 = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);
            TimeSpan span = param - dt70;
            nOfSeconds = (long)span.TotalSeconds;
            return ((uint)nOfSeconds);
        }
    }

    class LocationThread3
    {
        public UInt16 port;
        //public MotoTRBOGW parent;

        private byte[] data = new byte[1024];
        private static UdpClient udpClient;

        // -------------------------------------------------------------------
        // Main
        // -------------------------------------------------------------------
        private bool start_read = true;
        public void HandleConnection()
        {
            //TestPacket();
            //return;
            EndPoint reponseEndPoint = new IPEndPoint(0, 0);
            while (true)
            {
                try
                {
                    MotoTRBOcmdMsg msg = CPlusGW.locationQueue.GetItem(100);
                    if (msg != null)
                    {
                        if (udpClient != null)
                            udpClient.Close();
                        udpClient = null;
                        ProcessCommand(msg);
                        start_read = true;
                    }
                    // read async
                    if (start_read)
                    {
                        start_read = false;
                        try
                        {
                            if (udpClient == null)
                            {
                                udpClient = new UdpClient();
                                udpClient.Client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
                                udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, Program.cfg.locPort_r));
                            }
                            IPEndPoint remoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
                            // Blocks until a message returns on this socket from a remote host.
                            Byte[] receivedBytes = udpClient.Receive(ref remoteIpEndPoint);
                            //Console.WriteLine("Received form Location thread on port:" + MotoTRBOGW.cfg.locPort_r);
                            Print(receivedBytes, receivedBytes.Length, true);

                            if (receivedBytes.Length > 1)
                            {
                                DecodePacket_Connect_plus(receivedBytes);
                                start_read = true;
                            }

                            Thread.Sleep(100);
                        }
                        catch (Exception ex)
                        {
                            SafeMobileLib.Utils.WriteLine("HandleConnection(): exception " + ex, ConsoleColor.Red);
                        }
                    }
                    else Thread.Sleep(100);
                }
                catch (Exception ex)
                {
                    SafeMobileLib.Utils.WriteLine("Exception in LocationThread:HandleConnection(): \r\n\tData=" +
                        ex.Data + "\r\n\tSource=" +
                        ex.Source + "\r\n\tStackTrace=" +
                        ex.StackTrace + "\r\n\tMessage=" +
                        ex.Message + "\r\n\tInnerException=" +
                        ex.InnerException, ConsoleColor.Red);
                }
            } // end while (true)
        }


        public void DecodePacket_Connect_plus(Byte[] data)
        {
            int i = 0, pdata;

            htCell_t cell = new htCell_t();
            cell.lat = "";
            cell.lng = "";
            cell.di = "0";
            cell.location_time = DateTime.MinValue;
            cell.activity_time = DateTime.MinValue;

            switch (data[0])
            {
                // -----------------------------------------------------------------------------------------------------------------------
                case (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT:
                case (byte)Document_Identifiers_ENUM.Triggered_Location_Answer_NoCDT:
                    /*
                    if (data[0] == (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT)
                        Console.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT);
                    else Console.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Answer_NoCDT);
                    */
                    pdata = (int)data[1];
                    //Console.WriteLine("Length =" + pdata + "(0x" + pdata.ToString("X") + ")");
                    for (i = 2; i < data[1] + 2; i++)
                    {
                        switch (data[i])
                        {
                            case (byte)Common_Element_Tokens_ENUM.request_id:
                                //Console.WriteLine(Common_Element_Tokens_ENUM.request_id + ": " + Byte2String(data, i + 1, 5));
                                i += 5;
                                break;

                            case (byte)Report_Messages_Tokens_ENUM.result:
                            case (byte)Report_Messages_Tokens_ENUM.result2:
                                //Console.WriteLine("Result: " + Byte2String(data, i + 1, 1));
                                if (data[i + 1] != 0)
                                {
                                    Console.WriteLine("Error = " + ProcessError(data[i + 1]));
                                }
                                //Console.WriteLine("OpaqueData: " + Byte2String(data, i + 2, data[1] - i));
                                i = data[1] + 1; // exit
                                break;
                            case (byte)Report_Messages_Tokens_ENUM.result1:
                                //Console.WriteLine("Result: OK");
                                break;
                            case (byte)Report_Messages_Tokens_ENUM.SU_IPv4:
                                string suid = ProcessSU_ID(data, i + 1).ToString();
                                cell.suid = suid;
                                i += 4;
                                Console.Write("SUIDe: " + suid + " ## ");
                                break;
                        }
                    }
                    break;

                // -----------------------------------------------------------------------------------------------------------------------
                case (byte)Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT:
                case (byte)Document_Identifiers_ENUM.Immediate_Location_Report_NoCDT:
                    {
                        /*
                        if (data[0] == (byte)Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT)
                            Console.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Report_NoCDT);
                        else
                            Console.WriteLine(Document_Identifiers_ENUM.Immediate_Location_Report_NoCDT);
                        */
                        pdata = (int)data[1];
                        Boolean parsingError = false;
                        DateTime gps_time = DateTime.MinValue;
                        for (i = 2; i < data[1] + 2; i++)
                        {
                            switch (data[i])
                            {
                                case (byte)Report_Messages_Tokens_ENUM.point_2d:
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();
                                    /*
                                    Console.WriteLine("Point_2d: " + data[i].ToString("X"));
                                    Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                     */
                                    i += 8;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.circle_2d:
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();
                                    cell.radius = ProcessUFloat2B(data, i + 1 + 8);
                                    /*
                                    Console.WriteLine("Circle_2d: " + data[i].ToString("X"));
                                    Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                    Console.WriteLine("Rad: " + Byte2String(data, i + 1 + 8, 2) + " =" + cell.radius);
                                     */
                                    i += 10;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.circle_3d:
                                case (byte)Report_Messages_Tokens_ENUM.circle_3d1:
                                    cell.lat = ProcessLat(data, i + 1, 4).ToString();
                                    cell.lng = ProcessLng(data, i + 1 + 4, 4).ToString();
                                    if (gps_time == DateTime.MinValue)
                                        cell.location_time = DateTime.Now.ToUniversalTime();
                                    cell.radius = ProcessUFloat2B(data, i + 1 + 8);
                                    /*
                                    Console.WriteLine("Circle_3d: " + data[i].ToString("X"));
                                    Console.WriteLine("Lat: " + Byte2String(data, i + 1, 4) + " =" + cell.lat);
                                    Console.WriteLine("Lng: " + Byte2String(data, i + 1 + 4, 4) + " =" + cell.lng);
                                    Console.WriteLine("Rad: " + Byte2String(data, i + 1 + 8, 2) + " =" + cell.radius);
                                    Console.WriteLine("Alt: " + Byte2String(data, i + 1 + 10, 2));
                                    Console.WriteLine("Ala: " + Byte2String(data, i + 1 + 12, 2));
                                     */
                                    i += 14;
                                    break;

                                case (byte)Report_Messages_Tokens_ENUM.speed_vrt: //!! not tested
                                    //Console.WriteLine(Report_Messages_Tokens_ENUM.speed_vrt + ": " + Byte2String(data, i + 1, 2));
                                    i += 2;
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.speed_hor:
                                    cell.spd = (ProcessUFloat2B(data, i + 1) * 3.6).ToString();
                                    //Console.WriteLine(Report_Messages_Tokens_ENUM.speed_hor + ": " + Byte2String(data, i + 1, 2) + " =" + cell.spd);
                                    i += 2;
                                    break;
                                case (byte)Common_Element_Tokens_ENUM.request_id:
                                    //Console.WriteLine(Common_Element_Tokens_ENUM.request_id + ": " + Byte2String(data, i + 1, 5));
                                    i += 5;
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.info_time:
                                case (byte)Report_Messages_Tokens_ENUM.info_time1:
                                    gps_time = ProcessTime(data, i + 1, 5);
                                    //Console.WriteLine(Report_Messages_Tokens_ENUM.info_time + ": " + Byte2String(data, i + 1, 5) + " =" + gps_time);
                                    i += 5;
                                    break;

                                // RESULTS
                                case (byte)Report_Messages_Tokens_ENUM.result:
                                case (byte)Report_Messages_Tokens_ENUM.result2:
                                    //Console.WriteLine("Result: " + Byte2String(data, i + 1, 1));
                                    if (data[i + 1] != 0)
                                    {
                                        Console.WriteLine("Error = " + ProcessError(data[i + 1]));
                                        parsingError = true;
                                    }
                                    //Console.WriteLine("OpaqueData: " + Byte2String(data, i + 2, data[1] - i));
                                    i = data[1] + 1; // exit
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.result1:
                                    //Console.WriteLine("Result: OK");
                                    break;
                                case (byte)Report_Messages_Tokens_ENUM.SU_IPv4:
                                    string suid = ProcessSU_ID(data, i + 1).ToString();
                                    cell.suid = suid;
                                    Console.Write("SUIDa: " + suid + " ## ");
                                    i += 4;
                                    break;

                                default:
                                    Console.WriteLine("Unknown: 0x" + data[i].ToString("X"));
                                    break;
                            }
                        }

                        if (!parsingError)
                        {
                            cell.location_time = gps_time;
                            CPlusGW.DBQueueLocation.PostItem(cell);
                        }
                    }
                    break;

                // -----------------------------------------------------------------------------------------------------------------------
                default:
                    Console.WriteLine("UNDEFINED 0x" + data[0].ToString("X"));
                    break;
            }
        }

        void ProcessCommand(MotoTRBOcmdMsg p_msg)
        {
            try
            {
                if (p_msg.m_cmd == (byte)MotoTRBOcmd.SET_REPORT_INTERVAL)
                    SendTriggeredLocationRequest(p_msg.m_suid, Convert.ToUInt32(p_msg.m_payload));
            }
            catch (Exception e)
            {
                Console.WriteLine("Could not send Location Request to unit");
                Console.WriteLine(e.Message);
            }

        }

        public void SendTriggeredLocationRequest(string SUID, uint p_reportSec)
        {
            byte[] arr_radioID = Utils.ID2ByteARR("12", SUID);
            Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Triggered_Location_Request_NoCDT, 
                                    0x10, // length in Bytes
                                    (byte)Common_Element_Tokens_ENUM.request_id, 
                                    0x04, 0x24, 0x68, 0xAC, 0xE0, 
                                    (byte)Query_Request_Messages_Tokens_ENUM.SU_IPv4,
                                    arr_radioID[0],
                                    arr_radioID[1],
                                    arr_radioID[2],
                                    arr_radioID[3],
                                    0x51, 
                                    (byte)Query_Request_Messages_Tokens_ENUM.request_speed_hor,

                                    (byte)Query_Request_Messages_Tokens_ENUM.periodic_trigger, 
                                    (byte)Query_Request_Messages_Tokens_ENUM.interval, 
                                    0x00, 0x00 //(byte)report_time// in seconds                    
            };

            try
            {
                UdpClient udpClient = new UdpClient(Program.cfg.locPort);
                udpClient.Connect(Program.cfg.ctrlIP, Program.cfg.locPort);
                int report_time = (int)p_reportSec;

                if (report_time < 0x80)
                {
                    //sendBytes[10] = (byte)report_time;
                    sendBytes[17] = (byte)report_time;
                }
                else
                {
                    sendBytes[1] += 1; // adjust length

                    int process = report_time;                   // MSB
                    process >>= 7;
                    process &= 0x007F;
                    process |= 0x0080;

                    sendBytes[17] = (byte)process;
                    sendBytes[18] = (byte)(report_time & 0x007F); //LSB
                }
                Print(sendBytes, sendBytes.Length, false);

                udpClient.Client.SendTo(sendBytes, new IPEndPoint(IPAddress.Parse(Program.cfg.ctrlIP), Program.cfg.locPort));
                Console.WriteLine("Triggered location request sent to radio ID " + SUID);
                udpClient.Close();
            }
            catch (Exception ex)
            {
                Console.WriteLine("Location Thread SendTriggeredLocationRequest exception: " + ex.ToString());
            }
        }


        // -------------------------------------------------------------------
        // Aux functions
        // -------------------------------------------------------------------


        static public string Byte2String(byte[] data)
        {
            string sdata = "";
            int i;

            for (i = 0; i < data.Length; i++)
            {
                int ii;
                ii = (int)data[i];
                sdata += "0x" + ii.ToString("X") + " ";
            }
            return sdata;
        }

        static public string Byte2String(byte[] data, int startIndex, int len)
        {
            string sdata = "";
            int i;

            if (startIndex > data.Length)
                return "";

            for (i = startIndex; i < startIndex + len && i < data.Length; i++)
            {
                int ii;
                ii = (int)data[i];
                sdata += "0x" + ii.ToString("X") + " ";
            }
            return sdata;
        }

        static string ProcessError(Byte err)
        {
            switch (err)
            {
                case (byte)Result_Codes_ENUM.SUCCESS: return "" + Result_Codes_ENUM.SUCCESS;
                case (byte)Result_Codes_ENUM.UNSUPPORTED_VERSION: return "" + Result_Codes_ENUM.UNSUPPORTED_VERSION;
                case (byte)Result_Codes_ENUM.SYNTAX_ERROR: return "" + Result_Codes_ENUM.SYNTAX_ERROR;
                case (byte)Result_Codes_ENUM.PROTOCOL_ELEMENT_NOT_SUPPORTED: return "" + Result_Codes_ENUM.PROTOCOL_ELEMENT_NOT_SUPPORTED;
                case (byte)Result_Codes_ENUM.PROTOCOL_ELEMENT_VALUE_OUT_OF_RANGE: return "" + Result_Codes_ENUM.PROTOCOL_ELEMENT_VALUE_OUT_OF_RANGE;
                case (byte)Result_Codes_ENUM.QUERY_INFO_NOT_ATTAINABLE: return "" + Result_Codes_ENUM.QUERY_INFO_NOT_ATTAINABLE;
                case (byte)Result_Codes_ENUM.NO_SUCH_REQUEST: return "" + Result_Codes_ENUM.NO_SUCH_REQUEST;
                case (byte)Result_Codes_ENUM.DUPLICATE_REQUEST_ID: return "" + Result_Codes_ENUM.DUPLICATE_REQUEST_ID;
            }
            return "Unknown err";

        }

        static public double ProcessUFloat2B(Byte[] data, int startIndex)
        {
            int aux = data[startIndex];
            aux &= 0xff;
            int int_part = 0;
            int i = 0;

            // get the int part
            while ((aux & 0x80) != 0)
            {
                //Console.Write("<" + aux.ToString("X") + ">");
                int_part |= (aux ^ 0x80);
                int_part <<= 7;
                i++;
                aux = data[startIndex + i];
                aux &= 0xff;
                //Console.Write("[" + int_part.ToString("X") + "]");
            }
            //Console.Write("<" + aux.ToString("X") + ">");
            int_part |= aux;
            //Console.Write("[" + int_part.ToString("X") + "]");

            // ignore the float part
            i++;
            while ((data[startIndex + i] & 0x80) != 0)
            {
                //Console.Write("<" + data[startIndex + i] + ">");
                i++;
            }

            //Console.WriteLine();
            return (double)int_part;
        }

        static DateTime ProcessTime(Byte[] data, int startIndex, int len)
        {
            // (yyyy*2^26) + (MM*2^22) + (DD*2^17) + (hh*2^12) + (mm*2^6) + ss
            Byte B1 = data[startIndex];
            Byte B2 = data[startIndex + 1];
            Byte B3 = data[startIndex + 2];
            Byte B4 = data[startIndex + 3];
            Byte B5 = data[startIndex + 4];

            int hh, mm, ss, YY, MM, DD;
            ss = B5 & 0x3F; // remove first 2b

            mm = B4 & 0x0F;
            mm <<= 2;
            mm |= ((B5 >> 6) & 0x03);

            hh = B3 & 0x01;
            hh <<= 4;
            hh |= ((B4 & 0xf0) >> 4);

            DD = B3 & 0x3E;
            DD >>= 1;

            MM = B2 & 0x03;
            MM <<= 2;
            MM |= ((B3 >> 6) & 0x03);

            YY = B1;
            YY <<= 6;
            YY |= ((B2 >> 2) & 0x3F);

            //Console.WriteLine("YY=" + YY.ToString("X"));
            //Console.WriteLine("MM=" + MM.ToString("X"));
            //Console.WriteLine("DD=" + DD.ToString("X"));
            //Console.WriteLine("hh=" + hh.ToString("X"));
            //Console.WriteLine("mm=" + mm.ToString("X"));
            //Console.WriteLine("ss=" + ss.ToString("X"));

            //SafeMobileLib.Utils.WriteLine("GPSTime : " + YY + "/" + MM + "/" + DD + " " + hh + ":" + mm + ":" + ss);
            return new DateTime(YY, MM, DD, hh, mm, ss, DateTimeKind.Utc);
        }

        static double ProcessLat(Byte[] data, int startIndex, int len)
        {
            bool sign = false;
            if ((data[startIndex] & 0x80) != 0)
            {
                sign = true;
            }
            ulong l = (ulong)data[startIndex];
            if (sign)
                l ^= 0x80; // remove the sign

            l <<= 8;
            l |= (ulong)data[startIndex + 1];
            l <<= 8;
            l |= (ulong)data[startIndex + 2];
            l <<= 8;
            l |= (ulong)data[startIndex + 3];


            //Console.WriteLine("lat ulong=0x" + l.ToString("X"));

            double ld = (double)l;
            ld *= 90;
            ld /= 1024;
            ld /= 1024;
            ld /= 1024;
            ld /= 2;
            if (sign)
                ld *= -1;

            return ld;
        }

        static double ProcessLng(Byte[] data, int startIndex, int len)
        {
            bool sign = false;
            if ((data[startIndex] & 0x80) != 0)
            {
                sign = true;
            }
            //Console.WriteLine("data[]=" + data[startIndex].ToString("X") + " sign=" + sign);
            ulong l = (ulong)data[startIndex];
            if (sign)
                l ^= 0x80; // remove the sign

            l <<= 8;
            l |= (ulong)data[startIndex + 1];
            l <<= 8;
            l |= (ulong)data[startIndex + 2];
            l <<= 8;
            l |= (ulong)data[startIndex + 3];


            //Console.WriteLine("lng ulong=0x" + l.ToString("X"));

            double ld = (double)l;
            ld *= 360;
            ld /= 1024;
            ld /= 1024;
            ld /= 1024;
            ld /= 4;

            if (sign)
            {
                ld = 180 - ld;
                ld *= -1;
            }
            return ld;
        }

        private int ProcessSU_ID(Byte[] data, int startIndex)
        {
            Byte B1 = data[startIndex];
            Byte B2 = data[startIndex + 1];
            Byte B3 = data[startIndex + 2];
            Byte B4 = data[startIndex + 3];

            int radioID = B4 + B3 * 256 + B2 * 256 * 256;
            return radioID;
        }

        private static void Print(byte[] data, int length, bool inOut)
        {
            //Console.Clear();
            Console.WriteLine("--------------------------------------------------------------------------- " + length);
            Console.Write("Data (" + ((inOut) ? "RECEIVED" : "SENT") + "): ");
            for (int i = 0; i < length; i++)
                Console.Write(" 0x" + data[i].ToString("X2"));
            Console.WriteLine("");
            Console.WriteLine("--------------------------------------------------------------------------- ");
        }


    }


}