610 lines
29 KiB
C#
610 lines
29 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Text;
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using System.Net;
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using System.Net.Sockets;
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using System.Threading;
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using System.Collections;
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using SafeMobileLib;
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using SafeMobileLib.MessageDecoders;
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namespace MotoRepeater
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{
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class LocationThread
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{
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private static UInt16 port;
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private byte[] data = new byte[1024];
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private static UdpClient udpClient;
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private static byte reqID_lastByte = 0;
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public static byte REQ_ID = 0xEE;
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private MotoRepeater_GW repeaterGw;
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public LocationThread(UInt16 locationPort, MotoRepeater_GW repeaterGw)
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{
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port = locationPort;
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this.repeaterGw = repeaterGw;
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}
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public void handleConnection()
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{
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Utils.WriteLine("♥♥♥ Location Thread Started on port " + port);
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try
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{
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udpClient = new UdpClient(port);
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}
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catch (Exception ex)
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{
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Utils.WriteLine("Location Thread Error Creating UDP Client: " + ex.ToString(), ConsoleColor.Red);
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}
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IPEndPoint remoteIpEndPoint = new IPEndPoint(IPAddress.Any, port);
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while (MotoRepeater_GW.isRunning)
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{
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try
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{
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//Utils.WriteLine("WAITING FOR INFO ON LOCATION");
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// Blocks until a message returns on this socket from a remote host.
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Byte[] receivedBytes = udpClient.Receive(ref remoteIpEndPoint);
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char[] separator = { '.' };
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string[] su = remoteIpEndPoint.Address.ToString().Split(separator);
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uint radioID = (Convert.ToUInt32(su[1])) * 256 * 256 + (Convert.ToUInt32(su[2])) * 256 + Convert.ToUInt32(su[3]);
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string suid = radioID.ToString();
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Utils.WriteLine("Location Thread received data from radio " + radioID);
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//put information on message bus
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try
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{
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LocationDecoder locDecoder = new LocationDecoder(suid, receivedBytes, true, false);
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if (locDecoder == null)
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{
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Utils.WriteLine("NULL", ConsoleColor.Yellow);
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continue;
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}
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if (locDecoder.result == (byte)Result_Codes_ENUM.SYNTAX_ERROR)
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{
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Utils.WriteLine("SYNTAX_ERROR", ConsoleColor.Yellow);
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}
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else if (locDecoder.result == (byte)Result_Codes_ENUM.PROTOCOL_ELEMENT_NOT_SUPPORTED)
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{
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int requestingInterval = repeaterGw.GetReportingInterval(suid);
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if(requestingInterval < 5)
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{
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Utils.WriteLine("Requesting interval for " + suid + " set to default value : 180 [found: "
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+ requestingInterval + "]", ConsoleColor.DarkMagenta);
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requestingInterval = 180;
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}
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Utils.WriteLine("PROTOCOL_ELEMENT_NOT_SUPPORTED " + (locDecoder.cell.isCSBK ? " [CSBK]" : "[LEV_OF_CONFIDENCE]"));
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try
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{
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// portable station doesn't support CSBK messages
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if (locDecoder.cell.isCSBK)
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{
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// stop current Triggered Location Request
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SendTriggeredLocationSTOPCSBK(suid, REQ_ID);
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// send Triggered Location Request which contains the level of confidence
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if (SendTriggeredLocationRequest(suid, requestingInterval))
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// raise the event
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if (OnTriggeredLocationRequest != null)
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OnTriggeredLocationRequest(suid, requestingInterval);
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}
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// portable stations doesn't support level of confidence
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else
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{
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// stop current Triggered Location Request
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SendTriggeredLocationSTOP(suid, REQ_ID, false);
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Thread p = new Thread(delegate()
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{
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int coun = 0;
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while (MotoRepeater_GW.isRunning && (coun++) < 6)
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{
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Thread.Sleep(500);
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}
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//https://stackoverflow.com/questions/13120904/mysql-tinyint1-vs-tinyint2-vs-tinyint3-vs-tinyint4
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// send Triggered Location Request which contains the level of confidence
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if (SendTriggeredLocationRequest(suid, requestingInterval))
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if (OnTriggeredLocationRequest != null)
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OnTriggeredLocationRequest(suid, requestingInterval);
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});
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p.Start();
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}
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}
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catch (Exception)
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{
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}
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}
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else if (locDecoder.result == (byte)Result_Codes_ENUM.SUCCESS
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|| locDecoder.result == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_ATTAINABLE
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|| locDecoder.result == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_CURRENTLY_ATTAINABLE)
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{
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if (locDecoder.result == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_ATTAINABLE
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|| locDecoder.result == (byte)Result_Codes_ENUM.QUERY_INFO_NOT_CURRENTLY_ATTAINABLE)
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;
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//Utils.WriteLine(locDecoder.result + "");
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if (locDecoder.cell.lat != null)
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{
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// get the time difference between the GPS Position and the Global Time (which can be an internet time)
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TimeSpan locationDifference = (DateTime.Now.AddSeconds(MotoRepeater_GW.timeDifference.TotalSeconds)).Subtract(locDecoder.cell.location_time);
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Utils.WriteLine("CRT Time is " + DateTime.UtcNow.AddSeconds(MotoRepeater_GW.timeDifference.TotalSeconds).ToString(), ConsoleColor.Cyan);
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Utils.WriteLine("Location Time is " + locDecoder.cell.location_time.ToString(), ConsoleColor.Cyan);
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Utils.WriteLine("Level of Conficence " + locDecoder.cell.level_confidence.ToString(), ConsoleColor.Cyan);
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/*
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Console.ForegroundColor = ConsoleColor.Red;
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Console.WriteLine("Time GPS " + locDecoder.cell.location_time.ToString());
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Console.ForegroundColor = ConsoleColor.Yellow;
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Console.WriteLine("AppTime " + DateTime.UtcNow.ToString()); ;
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Console.WriteLine("POSITION DIFFERENCE IS " + locationDifference.Seconds);
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Console.ForegroundColor = ConsoleColor.Gray;
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*/
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// if position in the future with more than 2 days
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if (Math.Abs(locationDifference.TotalSeconds) > 172800)
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{
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// skip this position
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continue;
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}
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String[] toSendString = new String[4];
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toSendString[0] = DateTo70Format(locDecoder.cell.location_time).ToString();
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toSendString[1] = locDecoder.cell.spd.ToString();
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toSendString[2] = locDecoder.cell.lat.ToString();
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toSendString[3] = locDecoder.cell.lng.ToString();
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int opcode = 0;
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if (locDecoder.cell.triggered)
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{
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//SM.Debug("Location thread->location triggere response");
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opcode = 131;
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Utils.WriteLine(String.Format("»»» Position [{0:0.0000},{1:0.0000}] from {2}", Math.Round(Double.Parse(locDecoder.cell.lat), 4),
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Math.Round(Double.Parse(locDecoder.cell.lng), 4), suid));
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int speed = 0;
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int.TryParse(locDecoder.cell.spd, out speed);
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//Utils.WriteLine("POSITION TIME IS : " + locDecoder.cell.location_time.ToString());
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LocationEventArgs e = new LocationEventArgs()
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{
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RadioID = Int64.Parse(suid),
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GPSTime = (Int64)locDecoder.cell.location_time.Subtract(new DateTime(1970, 1, 1, 0, 0, 0)).TotalSeconds,
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Speed = speed,
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Latitude = Math.Round(Double.Parse(locDecoder.cell.lat), 4),
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Longitude = Math.Round(Double.Parse(locDecoder.cell.lng), 4),
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Altitude = locDecoder.cell.altitude,
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LevelOfConfidence = locDecoder.cell.level_confidence,
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seqID = locDecoder.cell.seqID
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};
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OnLocationReceived?.Invoke(e);
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}
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else
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{
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Utils.WriteLine(String.Format("»»» Poll Res [{0:0.0000},{1:0.0000}] from {2} [{3}]", Math.Round(Double.Parse(locDecoder.cell.lat), 4),
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Math.Round(Double.Parse(locDecoder.cell.lng), 4), suid, locDecoder.cell.seq_ID));
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//Utils.WriteLine("POLL SEQ ID " + locDecoder.cell.seq_ID + " | " + locDecoder.cell.seqID, ConsoleColor.Yellow);
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//SM.Debug("Location thread->location poll response");
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opcode = 231;
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int speed = 0;
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int.TryParse(locDecoder.cell.spd, out speed);
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LocationEventArgs e = new LocationEventArgs()
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{
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RadioID = Int64.Parse(suid),
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GPSTime = (Int64)locDecoder.cell.location_time.Subtract(new DateTime(1970, 1, 1, 0, 0, 0)).TotalSeconds,
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Speed = speed,
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Latitude = Math.Round(Double.Parse(locDecoder.cell.lat), 4),
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Longitude = Math.Round(Double.Parse(locDecoder.cell.lng), 4),
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Altitude = locDecoder.cell.altitude,
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LevelOfConfidence = locDecoder.cell.level_confidence,
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seqID = locDecoder.cell.seqID
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};
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OnPollReceived?.Invoke(e);
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}
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/*
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Byte[] toSendMulticast = Utils.createLocationMessage(131, suid, toSendString);
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udpMulticast.Send(toSendMulticast, toSendMulticast.Length);
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string str = System.Text.Encoding.ASCII.GetString(toSendMulticast, 0, toSendMulticast.Length);
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//SM.Debug("Location thread successfully sent data to message bus: \n" + str);
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Utils.WriteLine("TX MultiBus Location [" + str.Trim() + "]");
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*/
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}
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}
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}
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catch (Exception ex)
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{
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Utils.WriteLine("Error at parsing location " + ex.ToString(), ConsoleColor.Red);
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Utils.WriteLine(Utils.PrintBytesArray(receivedBytes), ConsoleColor.Red);
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}
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Thread.Sleep(100);
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}
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catch (Exception e)
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{
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Utils.WriteLine("••• LocationThread Exception " + e.ToString());
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if (MotoRepeater_GW.isRunning)
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{
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Utils.WriteLine("••• Location Thread is restarting...");
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try
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{
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/*
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udpClient = new UdpClient();
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udpClient.Client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
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udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, port));
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*/
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udpClient = new UdpClient(port);
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}
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catch (Exception ex)
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{
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Utils.WriteLine("••• Location Thread Error Creating UDP Client: " + ex.ToString());
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}
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}
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}
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}
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Utils.WriteLine("Location Thread is getting killed", ConsoleColor.Yellow);
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// fire event
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OnLocationThreadKilled?.Invoke();
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}
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private uint DateTo70Format(DateTime param)
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{
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long nOfSeconds;
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//Console.WriteLine("DateTo70Format param=" + param);
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System.DateTime dt70 = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);
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TimeSpan span = param - dt70;
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nOfSeconds = (long)span.TotalSeconds;
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return ((uint)nOfSeconds);
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}
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public static bool SendTriggeredLocationRequest(string SUID, int report_time)
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{
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reqID_lastByte++;
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if (reqID_lastByte > 0xfe) reqID_lastByte = 0x00;
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Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Triggered_Location_Request_NoCDT,
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0x0B, // length in Bytes
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(byte)Common_Element_Tokens_ENUM.request_id,
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//0x04, 0x24, 0x68, 0xAC, 0xE0,
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//0x04, 0x24, 0x68, 0xAC, 0xEE,//reqID_lastByte,
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0x04, 0x00, 0x00, 0x00, REQ_ID,
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(byte)Report_Messages_Tokens_ENUM.circle_2d, //0x51,
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(byte)Query_Request_Messages_Tokens_ENUM.request_speed_hor,
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(byte)Query_Request_Messages_Tokens_ENUM.periodic_trigger,
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(byte)Query_Request_Messages_Tokens_ENUM.interval,
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0x00, 0x00 //(byte)report_time// in seconds
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};
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try
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{
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if (report_time < 0x80)
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{
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//sendBytes[10] = (byte)report_time;
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sendBytes[12] = (byte)report_time;
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}
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else
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{
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sendBytes[1] += 1; // adjust length
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int process = report_time; // MSB
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process >>= 7;
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process &= 0x007F;
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process |= 0x0080;
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sendBytes[12] = (byte)process;
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sendBytes[13] = (byte)(report_time & 0x007F); //LSB
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}
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udpClient.Client.SendTo(sendBytes, new IPEndPoint(IPAddress.Parse(Utils.ID2IP("12", SUID)), port));
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//Utils.WriteLine("Triggered location request sent to radio ID " + SUID);
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Utils.WriteLine("««« Triggered location request [" + report_time + " sec] for " + SUID);
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return true;
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//locationUdpClient.Close();
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}
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catch (Exception ex)
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{
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Utils.WriteLine("Location Thread SendTriggeredLocationRequest exception: " + ex.ToString());
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}
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return false;
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}
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public static bool SendTriggeredLocationRequestCSBK(string SUID, int report_time)
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{
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Byte[] sendBytes = { //0x05, 0x08, 0x22, 0x03, 0x00, 0x00, 0x01, 0x40, 0x01, 0x41
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0x09, 0x0B, 0x22, 0x03, 0x00, 0x00, 0x01, 0x40, 0x01, 0x41, 0x34, 0x31, 0x1E
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/*
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(byte)Document_Identifiers_ENUM.Triggered_Location_Request_NoCDT,
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0x0D,
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(byte)Common_Element_Tokens_ENUM.request_id,
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0x03, 0x00, 0x00, 0x01, //reqID_lastByte,
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0x52, (byte)Query_Request_Messages_Tokens_ENUM.require_speed_hor,
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0x40, 0x01, 0x41, // start csbk
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(byte)Query_Request_Messages_Tokens_ENUM.periodic_trigger,
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(byte)Query_Request_Messages_Tokens_ENUM.interval,
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0x1E
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*/
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};
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/*Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Triggered_Location_Request_NoCDT,
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0x0F, // length in Bytes
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(byte)Common_Element_Tokens_ENUM.request_id,
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//0x04, 0x24, 0x68, 0xAC, 0xE0,
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0x03, 0x00, 0x00, 0xEE,//reqID_lastByte,
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0x51,
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(byte)Query_Request_Messages_Tokens_ENUM.request_speed_hor,
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// START OF impl_spec_data
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(byte)Query_Request_Messages_Tokens_ENUM.impl_spec_data,
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0x01, 0x41, // 0x01 - length, 0x41 - request CSBK and LRRP
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(byte)Query_Request_Messages_Tokens_ENUM.periodic_trigger,
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(byte)Query_Request_Messages_Tokens_ENUM.interval
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};*/
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try
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{
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/*
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if (report_time < 0x80)
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{
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//sendBytes[10] = (byte)report_time;
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sendBytes[13] = (byte)report_time;
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}
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else
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{
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sendBytes[1] += 1; // adjust length
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int process = report_time; // MSB
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process >>= 7;
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process &= 0x007F;
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process |= 0x0080;
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sendBytes[13] = (byte)process;
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sendBytes[14] = (byte)(report_time & 0x007F); //LSB
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}
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*/
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udpClient.Client.SendTo(sendBytes, new IPEndPoint(IPAddress.Parse(Utils.ID2IP("12", SUID)), port));
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//Utils.WriteLine("Triggered location request sent to radio ID " + SUID);
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Utils.WriteLine("««« Triggered location request [" + report_time + " sec] for " + SUID);
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Utils.PrintBytesArray(sendBytes);
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return true;
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//locationUdpClient.Close();
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}
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catch (Exception ex)
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{
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Utils.WriteLine("Location Thread SendTriggeredLocationRequest exception: " + ex.ToString());
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}
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return false;
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}
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#region location with LOC
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public static bool SendTriggeredLocationRequestWithLOC(string SUID, int report_time)
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{
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reqID_lastByte++;
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if (reqID_lastByte > 0xfe) reqID_lastByte = 0x00;
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Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Triggered_Location_Request_NoCDT,
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0x0E, // length in Bytes
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(byte)Common_Element_Tokens_ENUM.request_id,
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//0x04, 0x24, 0x68, 0xAC, 0xEE,
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0x04, 0x00, 0x00, 0x00, REQ_ID,
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(byte)Query_Request_Messages_Tokens_ENUM.ret_info2, // location = circle-2d
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(byte)Query_Request_Messages_Tokens_ENUM.request_speed_hor, // horizontal speed
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(byte)Query_Request_Messages_Tokens_ENUM.request_speed_vrt, // vertical speed
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//(byte)Query_Request_Messages_Tokens_ENUM.request_altitude,
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//(byte)Query_Request_Messages_Tokens_ENUM.require_altitude_acc,
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//(byte)0x0A,
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(byte)Query_Request_Messages_Tokens_ENUM.request_lev_conf, // level of confidence
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(byte)0x00,
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(byte)Query_Request_Messages_Tokens_ENUM.periodic_trigger,
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(byte)Query_Request_Messages_Tokens_ENUM.interval,
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0x00, 0x00 //(byte)report_time// in seconds
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};
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try
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{
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if (report_time < 0x80)
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{
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//sendBytes[10] = (byte)report_time;
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sendBytes[15] = (byte)report_time;
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}
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else
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{
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sendBytes[1] += 1; // adjust length
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int process = report_time; // MSB
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process >>= 7;
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process &= 0x007F;
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process |= 0x0080;
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sendBytes[15] = (byte)process;
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sendBytes[16] = (byte)(report_time & 0x007F); //LSB
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}
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udpClient.Client.SendTo(sendBytes, new IPEndPoint(IPAddress.Parse(Utils.ID2IP("12", SUID)), port));
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Utils.WriteLine("««« Triggered location request with altitude [" + report_time + " sec] for " + SUID);
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return true;
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}
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catch (Exception ex)
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{
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Utils.WriteLine("Location Thread SendTriggeredLocationRequestWithLOC exception: " + ex.ToString(), ConsoleColor.Red);
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return false;
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}
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}
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#endregion
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/*
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*
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*/
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public static void SendPollRequest(string SUID)
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{
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SendPollRequest(SUID, REQ_ID);
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}
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public static void SendPollRequest(string SUID, byte reqID)
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{
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reqID_lastByte++;
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if (reqID_lastByte > 0xff) reqID_lastByte = 0x00;
|
|
Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Immediate_Location_Request_NoCDT,
|
|
0x08, // length in Bytes
|
|
(byte)Common_Element_Tokens_ENUM.request_id,
|
|
//0x04, 0x24, 0x68, 0xAC, 0xE0,
|
|
0x04, 0x24, 0x68, 0xAC, reqID,
|
|
|
|
0x51,
|
|
//(byte)Query_Request_Messages_Tokens_ENUM.require_altitude};
|
|
(byte)Query_Request_Messages_Tokens_ENUM.request_speed_hor};
|
|
|
|
/* // improved poll request that I'm using in Safenet Conventional Gateway
|
|
//get reqid bytes
|
|
byte[] intBytes = BitConverter.GetBytes(reqID_send);
|
|
if (BitConverter.IsLittleEndian)
|
|
Array.Reverse(intBytes);
|
|
|
|
Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Immediate_Location_Request_NoCDT,
|
|
0x0A, // length in Bytes
|
|
(byte)Common_Element_Tokens_ENUM.request_id,
|
|
//0x04, 0x24, 0x68, 0xAC, 0xE0,
|
|
0x04, intBytes[0], intBytes[1], intBytes[2], intBytes[3],
|
|
|
|
(byte)Query_Request_Messages_Tokens_ENUM.ret_info1,
|
|
//(byte)Query_Request_Messages_Tokens_ENUM.require_altitude};
|
|
(byte)Query_Request_Messages_Tokens_ENUM.request_speed_hor,
|
|
(byte)Query_Request_Messages_Tokens_ENUM.request_lev_conf, // level of confidence
|
|
(byte)0x00,};
|
|
*/
|
|
|
|
|
|
|
|
udpClient.Client.SendTo(sendBytes, new IPEndPoint(IPAddress.Parse(Utils.ID2IP("12", SUID)), port));
|
|
Utils.WriteLine("»»» POLL location request for " + SUID + " [" + reqID + "]");
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Request the stop of a Triggered Location from a field radio
|
|
/// </summary>
|
|
/// <param name="SUID">The field radio ID which needs to stop sending location at a schedule time</param>
|
|
/// <param name="reqID">The triggered location ID that needs to be stopped [each field radio can have 4 Triggered Locations]</param>
|
|
public static void SendTriggeredLocationSTOP(string SUID, byte reqID, bool isCSBK)
|
|
{
|
|
if (!MotoRepeater_GW.cfg.SEND_LOCATION_STOP)
|
|
return;
|
|
|
|
byte[] arr_radioID = Utils.ID2ByteARR("12", SUID);
|
|
Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Request_NoCDT,
|
|
0x06, // length in Bytes
|
|
(byte)Common_Element_Tokens_ENUM.request_id,
|
|
0x04, 0x00, 0x00, 0x00, reqID,
|
|
};
|
|
|
|
if(isCSBK)
|
|
{
|
|
sendBytes = new Byte[] { (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Request_NoCDT,
|
|
0x05, // length in Bytes
|
|
(byte)Common_Element_Tokens_ENUM.request_id,
|
|
0x03, 0x00, 0x00, reqID,
|
|
};
|
|
}
|
|
try
|
|
{
|
|
udpClient.Client.SendTo(sendBytes, new IPEndPoint(IPAddress.Parse(Utils.ID2IP("12", SUID)), port));
|
|
Utils.WriteLine("»»» Triggered location STOP request for " + SUID);
|
|
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Utils.WriteLine("Location Thread SendTriggeredLocationSTOP exception: " + ex.ToString());
|
|
}
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Request the stop of a Triggered CSBK Location from a field radio
|
|
/// </summary>
|
|
/// <param name="SUID">The field radio ID which needs to stop sending location at a schedule time</param>
|
|
/// <param name="reqID">The triggered location ID that needs to be stopped [each field radio can have 4 Triggered Locations]</param>
|
|
public static void SendTriggeredLocationSTOPCSBK(string SUID, byte reqID)
|
|
{
|
|
if (!MotoRepeater_GW.cfg.SEND_LOCATION_STOP)
|
|
return;
|
|
|
|
byte[] arr_radioID = Utils.ID2ByteARR("12", SUID);
|
|
Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Request_NoCDT,
|
|
0x05, // length in Bytes
|
|
(byte)Common_Element_Tokens_ENUM.request_id,
|
|
0x03, 0x00, 0x00, reqID,
|
|
};
|
|
|
|
try
|
|
{
|
|
udpClient.Client.SendTo(sendBytes, new IPEndPoint(IPAddress.Parse(Utils.ID2IP("12", SUID)), port));
|
|
Utils.WriteLine("««« Triggered location STOP request for " + SUID);
|
|
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Utils.WriteLine("Location Thread SendTriggeredLocationSTOP exception: " + ex.ToString());
|
|
}
|
|
}
|
|
|
|
|
|
public void StopLocationThread()
|
|
{
|
|
if (udpClient != null)
|
|
{
|
|
udpClient.Close();
|
|
}
|
|
}
|
|
public delegate void LocationThreadKilled();
|
|
public event LocationThreadKilled OnLocationThreadKilled;
|
|
|
|
public delegate void LocationReceived(LocationEventArgs e);
|
|
public event LocationReceived OnLocationReceived;
|
|
|
|
public delegate void PollReceived(LocationEventArgs e);
|
|
public event PollReceived OnPollReceived;
|
|
|
|
public delegate void TriggeredLocationRequestDEl(String radioID, int reportingInterval);
|
|
public event TriggeredLocationRequestDEl OnTriggeredLocationRequest;
|
|
}
|
|
}
|