1138 lines
56 KiB
C#
1138 lines
56 KiB
C#
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 SafeNetLib;
|
|
|
|
namespace ConnectPlus_SOC
|
|
{
|
|
|
|
class LocationThread
|
|
{
|
|
public int port;
|
|
//public MotoTRBOGW parent;
|
|
public static Hashtable ht_location_hash;
|
|
public static Hashtable ht_pendingMsg;
|
|
private byte[] data = new byte[1024];
|
|
private static UdpClient udpClient;
|
|
private Int32 reqID_send = 0x01;
|
|
private string reqID;
|
|
|
|
// default request id for Location REQUEST
|
|
public static readonly byte REQ_ID = 0xEE;
|
|
private int ACCEPTED_LEVEL_OF_CONFIDENCE = 20;
|
|
|
|
|
|
private Int32 reqID_recv;
|
|
// -------------------------------------------------------------------
|
|
// Main
|
|
// -------------------------------------------------------------------
|
|
public LocationThread()
|
|
{
|
|
Random rnd1 = new Random();
|
|
reqID_send = (byte)rnd1.Next(0xffffff);
|
|
}
|
|
private bool start_read = true;
|
|
|
|
private bool startAsyncRead()
|
|
{
|
|
EndPoint reponseEndPoint = new IPEndPoint(0, 0);
|
|
try
|
|
{
|
|
if (udpClient == null)
|
|
{
|
|
udpClient = new UdpClient(ConnectPlus_GW.cfg.locPort_r);
|
|
udpClient.Client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
|
|
//udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, ConnectPlus_GW.cfg.locPort_r));
|
|
//Console.WriteLine("ReBinding location udpClient");
|
|
}
|
|
IPEndPoint remoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
|
|
|
|
// 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);
|
|
Thread.Sleep(100);
|
|
//Console.WriteLine("AsyncRead started for Location thread on port:" + ConnectPlus_GW.cfg.locPort_r);
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Utils.ConsWrite(DebugMSG_Type.always, "HandleConnection(): exception " + ex);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
public void HandleConnection()
|
|
{
|
|
ht_location_hash = new Hashtable();
|
|
ht_pendingMsg = new Hashtable();
|
|
//TestPacket();
|
|
//return;
|
|
start_read = false;
|
|
startAsyncRead();
|
|
DateTime lastHashVerify = DateTime.Now;
|
|
while (true)
|
|
{
|
|
try
|
|
{
|
|
MotoTRBOcmdMsg msg = SN_Queues.locationQueue.GetItem(100);
|
|
//add data to ht_SUInfo
|
|
|
|
if (msg != null)
|
|
{
|
|
ProcessCommand(msg); //this will update the m_seqID and m_time
|
|
if (!ht_pendingMsg.ContainsKey(msg.m_seqID))
|
|
ht_pendingMsg.Add(msg.m_seqID, msg);
|
|
}
|
|
|
|
//is now answer within 30 secconds resend
|
|
if (ht_pendingMsg.Count > 0)
|
|
if ((DateTime.Now.Ticks - lastHashVerify.Ticks) > 30 * 1000 * 10000)
|
|
{
|
|
LOGS.LOG("Debug: LOCK1");
|
|
lock (ht_pendingMsg.SyncRoot)
|
|
{
|
|
try
|
|
{
|
|
Hashtable tmp = new Hashtable();
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, "Controler answers check at :" + DateTime.Now);
|
|
foreach (DictionaryEntry de in ht_pendingMsg)
|
|
{
|
|
MotoTRBOcmdMsg m = (MotoTRBOcmdMsg)de.Value;
|
|
|
|
//if not send remove from pendingMsg and add back to location Queue
|
|
if (DateTime.Now.Ticks - m.m_time.Ticks > 60 * 1000 * 10000)
|
|
if (m.m_cmd == (int)MotoTRBOcmd.SET_REPORT_INTERVAL) //put back in queue ONLY LRRP set requests
|
|
{
|
|
SN_Queues.locationQueue.PostItem(m);
|
|
Thread.Sleep(1000);
|
|
}
|
|
else if (!tmp.ContainsKey(m.m_seqID))
|
|
tmp.Add(m.m_seqID, m);
|
|
|
|
}
|
|
ht_pendingMsg = tmp;
|
|
lastHashVerify = DateTime.Now;
|
|
}
|
|
catch (Exception e)
|
|
{
|
|
LOGS.LOG("Error: cannot reset pending messages HashTable" + e.ToString());
|
|
}
|
|
}//release lock
|
|
LOGS.LOG("Debug: UN-LOCK1");
|
|
}
|
|
|
|
if (start_read)
|
|
{
|
|
start_read = false;
|
|
LOGS.LOG("&GPS& " + "1.startAsyncRead();");
|
|
startAsyncRead();
|
|
}
|
|
|
|
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Console.ForegroundColor = ConsoleColor.DarkRed;
|
|
Utils.ConsWrite(DebugMSG_Type.always, "Exception in LocationThread:HandleConnection(): " + ex.ToString());
|
|
Console.ForegroundColor = ConsoleColor.Gray;
|
|
}
|
|
} // end while (true)
|
|
}
|
|
|
|
|
|
void AsyncRead(IAsyncResult result)
|
|
{
|
|
EndPoint remoteEndPoint = new IPEndPoint(0, 0);
|
|
try
|
|
{
|
|
// read bytes from UDP and decode them if length is grater than 1 char
|
|
int bytesRead = udpClient.Client.EndReceiveFrom(result, ref remoteEndPoint);
|
|
LOGS.LOG("&GPS& " + "2.AsyncRead(); got GPS message from controller");
|
|
if (bytesRead > 1)
|
|
{
|
|
// update lastActivityTime
|
|
ConnectPlus_GW.lastActivityTime = DateTime.Now;
|
|
//Console.WriteLine("\n--------------------");
|
|
//Console.WriteLine("AsyncRead endded processing data!!!");
|
|
//Console.WriteLine("GPS Received: " + Byte2String(data,0,bytesRead));
|
|
DecodePacket_Connect_plus(data);
|
|
LOGS.LOG("&GPS& " + "3.AsyncRead(); GPS message decoded");
|
|
}
|
|
|
|
// flag that a new message can be read
|
|
start_read = true;
|
|
LOGS.LOG("&GPS& " + "4.AsyncRead(); start_read = true;");
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Console.WriteLine("AsyncRead Exception : " + ex.ToString());
|
|
start_read = true;
|
|
LOGS.LOG("&GPS& " + "4.AsyncRead(); start_read = 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.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)
|
|
Console.WriteLine(Document_Identifiers_ENUM.Triggered_Location_Stop_Answer_NoCDT);
|
|
else Console.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)
|
|
{
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, "GPS returned with » " + ProcessError(data[i + 1]));
|
|
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)
|
|
LOGS.LOG(ConnectPlus_GW.cfg.gw_id + cell.suid + " Triggered_Location_Stop_Answer_NoCDT \t regID:" + reqID + " \t result:" + result);
|
|
else
|
|
LOGS.LOG(ConnectPlus_GW.cfg.gw_id + 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
|
|
{
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, "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.direction_hor:
|
|
i += 1;
|
|
break;
|
|
|
|
default:
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, "Unknown: 0x" + data[i].ToString("X"));
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (gps_time == DateTime.MinValue)
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, "GPS gps_time == DateTime.MinValue");
|
|
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
|
|
{
|
|
|
|
// update last GPS list if the unit exists in the hashtable
|
|
if (cell.suid!= null && SN_Queues.ht_SUInfo.ContainsKey(cell.suid))
|
|
{
|
|
((SUinfo)SN_Queues.ht_SUInfo[cell.suid]).GPSlasttime = DateTime.UtcNow;
|
|
}
|
|
else
|
|
{
|
|
// break if received possition is not from a unit assigned to this gateway
|
|
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, "Got GPS position from " + cell.suid + " which is not assigned to this GW.");
|
|
return;
|
|
}
|
|
|
|
if (cell.triggered)//if location is "triggered" then proceed as usual
|
|
{
|
|
//Utils.ConsWrite(DebugMSG_Type.DEV, "Got triggered location from" + cell.suid);
|
|
if (cell.suid != null && ht_location_hash.ContainsKey(cell.suid))
|
|
{
|
|
if (gps_time != ((DateTime)ht_location_hash[cell.suid]))
|
|
{
|
|
//Console.WriteLine("SUID:" + cell.suid + "GPS time != last GPS time... Adding it to DB!!!");
|
|
cell.location_time = gps_time;
|
|
SN_Queues.DBQueueLocation.PostItem(cell);
|
|
ht_location_hash.Remove(cell.suid);
|
|
ht_location_hash.Add(cell.suid, gps_time);
|
|
|
|
string consoleMsg = "";
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, consoleMsg = 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));
|
|
|
|
LOGS.LOG(ConnectPlus_GW.cfg.gw_id + " " + consoleMsg);
|
|
//LOGS.LOG("&GPS& " + "3.5.DecodePacket_Connect_plus(Byte[] data)(); Added to queue for DB");
|
|
}
|
|
else
|
|
{
|
|
//Utils.ConsWrite(DebugMSG_Type.GPS, "SUID:" + cell.suid + " GPS time already in DB ...time:" + gps_time);
|
|
}
|
|
}//if (location_hash.ContainsKey(cell.suid))
|
|
|
|
else
|
|
{
|
|
//Utils.ConsWrite(DebugMSG_Type.GPS, "SUID:" + cell.suid + " First GPS adding it to DB!!!");
|
|
cell.location_time = gps_time;
|
|
SN_Queues.DBQueueLocation.PostItem(cell);
|
|
ht_location_hash.Add(cell.suid, gps_time);
|
|
string consoleMsg = "";
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, consoleMsg = String.Format("»»» Position [{0:0.0000},{1:0.0000}] from {2}'st", Math.Round(Double.Parse(cell.lat), 4),
|
|
Math.Round(Double.Parse(cell.lng), 4), cell.suid));
|
|
|
|
LOGS.LOG(ConnectPlus_GW.cfg.gw_id + " " + consoleMsg);
|
|
}
|
|
}
|
|
|
|
/// cell. triggered = false => poll response was received
|
|
else
|
|
{
|
|
string consoleMsg = "";
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, consoleMsg = String.Format("»»» Poll Res [{0:0.0000},{1:0.0000}] from {2} [{3}]", Math.Round(Double.Parse(cell.lat), 4),
|
|
Math.Round(Double.Parse(cell.lng), 4), cell.suid, cell.seq_ID));
|
|
|
|
try
|
|
{
|
|
lock (SN_Queues.ht_POLL_List.SyncRoot)
|
|
{
|
|
foreach (DictionaryEntry item in SN_Queues.ht_POLL_List)
|
|
{
|
|
if (((POLLmsg)item.Value).suid == cell.suid)
|
|
{
|
|
((POLLmsg)item.Value).response = cell.location_time;
|
|
((POLLmsg)item.Value).lat = cell.lat;
|
|
((POLLmsg)item.Value).lng = cell.lng;
|
|
((POLLmsg)item.Value).speed = cell.spd;
|
|
SN_Queues.DBQueueLocation.PostItem(cell);
|
|
SN_Queues.recvPOLLQueue.PostItem((POLLmsg)item.Value);
|
|
|
|
LOGS.LOG(ConnectPlus_GW.cfg.gw_id + " " + consoleMsg);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Utils.ConsWrite(DebugMSG_Type.always, "[Location Thread] Could not process poll msg suid:" + cell.suid);
|
|
}
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Utils.ConsWrite(DebugMSG_Type.always, "[Location Thread]: " + ex.ToString());
|
|
}
|
|
}
|
|
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;
|
|
SendTriggeredLocationRequest(cell.suid, (uint)((SUinfo)SN_Queues.ht_SUInfo[cell.suid]).repInterval, reqID_send);
|
|
}
|
|
}
|
|
break;
|
|
|
|
// -----------------------------------------------------------------------------------------------------------------------
|
|
default:
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, "UNDEFINED 0x" + data[0].ToString("X"));
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
void ProcessCommand(MotoTRBOcmdMsg p_msg)
|
|
{
|
|
try
|
|
{
|
|
reqID_send++;
|
|
if (reqID_send == Int32.MaxValue)
|
|
reqID_send = 1;
|
|
|
|
// hijack the reqID to my default value
|
|
//reqID_send = REQ_ID;
|
|
|
|
p_msg.m_seqID = reqID_send;
|
|
p_msg.m_time = DateTime.Now;
|
|
if (p_msg.m_cmd == (byte)MotoTRBOcmd.SET_REPORT_INTERVAL)
|
|
{
|
|
// 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(p_msg.m_suid, REQ_ID);
|
|
|
|
// send a poll request with the default request ID
|
|
SendTriggeredLocationRequest(p_msg.m_suid, Convert.ToUInt32(p_msg.m_payload), reqID_send);
|
|
//SendTriggeredLocationRequest(p_msg.m_suid, Convert.ToUInt32(p_msg.m_payload), reqID_send);
|
|
}
|
|
if (p_msg.m_cmd == (byte)MotoTRBOcmd.SEND_POLL)
|
|
{
|
|
// send a poll request with the default request ID
|
|
SendPollLocationRequest(p_msg.m_suid, reqID_send);
|
|
//SendPollLocationRequest(p_msg.m_suid, reqID_send);
|
|
Utils.ConsWrite(DebugMSG_Type.GPS, "Poll request sent for unit:" + p_msg.m_suid);
|
|
//Utils.ConsWrite(DebugMSG_Type.DEV, "Poll request sent for unit:" + p_msg.m_suid);
|
|
lock (SN_Queues.ht_POLL_List.SyncRoot)
|
|
{
|
|
foreach (DictionaryEntry item in SN_Queues.ht_POLL_List)
|
|
{
|
|
|
|
if (((POLLmsg)item.Value).suid == p_msg.m_suid && ((POLLmsg)item.Value).DBid.ToString() == p_msg.m_payload)
|
|
{
|
|
((POLLmsg)item.Value).sent = DateTime.Now.ToUniversalTime();
|
|
((POLLmsg)item.Value).requestID = reqID_send;
|
|
Utils.ConsWrite(DebugMSG_Type.DEV, "Poll request found in MotoTRBOGW.ht_POLL_List for unit:" + p_msg.m_suid);
|
|
Utils.ConsWrite(DebugMSG_Type.DEV, "reqID_send:" + reqID_send);
|
|
SN_Queues.sentPOLLQueue.PostItem((POLLmsg)item.Value);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
catch (Exception e)
|
|
{
|
|
Utils.ConsWrite(DebugMSG_Type.always, "Could not send Location Request to unit");
|
|
Utils.ConsWrite(DebugMSG_Type.always, e.Message);
|
|
}
|
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Request a field radio to report its location on a periodical basis. The location will contain Level Of Confidence item
|
|
/// </summary>
|
|
/// <param name="SUID">The field radio ID which needs to send its location</param>
|
|
/// <param name="p_reportSec">The number of seconds at which the field radio will resend its position</param>
|
|
/// <param name="reqID">The triggered location ID for this location request</param>
|
|
public void SendTriggeredLocationRequestwithLoC(string SUID, uint p_reportSec, Int32 reqID)
|
|
{
|
|
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.Triggered_Location_Request_NoCDT,
|
|
0x12, // 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],
|
|
(byte)Query_Request_Messages_Tokens_ENUM.ret_info1,
|
|
(byte)Query_Request_Messages_Tokens_ENUM.request_speed_hor,
|
|
(byte)Query_Request_Messages_Tokens_ENUM.request_lev_conf, // level of confidence
|
|
(byte)0x00,
|
|
(byte)Query_Request_Messages_Tokens_ENUM.periodic_trigger,
|
|
(byte)Query_Request_Messages_Tokens_ENUM.interval,
|
|
0x00, 0x00 //(byte)report_time// in seconds
|
|
};
|
|
|
|
int report_time = (int)p_reportSec;
|
|
|
|
if (report_time < 0x80)
|
|
{
|
|
//sendBytes[10] = (byte)report_time;
|
|
sendBytes[19] = (byte)report_time;
|
|
}
|
|
else
|
|
{
|
|
sendBytes[1] += 1; // adjust length
|
|
|
|
int process = report_time; // MSB
|
|
process >>= 7;
|
|
process &= 0x007F;
|
|
process |= 0x0080;
|
|
|
|
sendBytes[19] = (byte)process;
|
|
sendBytes[20] = (byte)(report_time & 0x007F); //LSB
|
|
}
|
|
|
|
bool result = SendOnUDP(sendBytes, sendBytes.Length);
|
|
string consoleMessage = String.Format("{0} Triggered location request LoC [{1}] for {2}", (result ? "««« Sent" : "ooo Not Sent "), p_reportSec, SUID);
|
|
|
|
LOGS.LOG(ConnectPlus_GW.cfg.gw_id + " " + consoleMessage + " [" + reqID + "]");
|
|
|
|
Utils.ConsWrite(DebugMSG_Type.DB, consoleMessage);
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Request a field radio to report its location on a periodical basis
|
|
/// </summary>
|
|
/// <param name="SUID">The field radio ID which needs to send its location</param>
|
|
/// <param name="p_reportSec">The number of seconds at which the field radio will resend its position</param>
|
|
/// <param name="reqID">The triggered location ID for this location request</param>
|
|
public void SendTriggeredLocationRequest(string SUID, uint p_reportSec,Int32 reqID)
|
|
{
|
|
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.Triggered_Location_Request_NoCDT,
|
|
0x10, // length in Bytes
|
|
(byte)Common_Element_Tokens_ENUM.request_id,
|
|
0x04, 0x00, 0x00, intBytes[2], intBytes[3],
|
|
(byte)Query_Request_Messages_Tokens_ENUM.SU_IPv4,
|
|
arr_radioID[0],
|
|
arr_radioID[1],
|
|
arr_radioID[2],
|
|
arr_radioID[3],
|
|
(byte)Query_Request_Messages_Tokens_ENUM.ret_info1,
|
|
(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
|
|
};
|
|
|
|
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
|
|
}
|
|
|
|
bool result = SendOnUDP(sendBytes, sendBytes.Length);
|
|
string consoleMessage = String.Format("{0} Triggered location request [{1}] for {2}", (result ? "««« Sent" : "ooo Not Sent "), p_reportSec, SUID);
|
|
LOGS.LOG(ConnectPlus_GW.cfg.gw_id + " " + consoleMessage + " [" + reqID + "]");
|
|
|
|
Utils.ConsWrite(DebugMSG_Type.DB, consoleMessage);
|
|
}
|
|
|
|
|
|
/// <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 void SendPollLocationRequest(string SUID, Int32 reqID)
|
|
{
|
|
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);
|
|
LOGS.LOG(ConnectPlus_GW.cfg.gw_id + " " + consoleMessage + " [" + reqID + "]");
|
|
|
|
Utils.ConsWrite(DebugMSG_Type.DB, consoleMessage);
|
|
}
|
|
|
|
|
|
/// <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 void SendTriggeredLocationSTOP(string SUID, byte reqID)
|
|
{
|
|
byte[] arr_radioID = Utils.ID2ByteARR("12", SUID);
|
|
Byte[] sendBytes = { (byte)Document_Identifiers_ENUM.Triggered_Location_Stop_Request_NoCDT,
|
|
0x0B, // length in Bytes
|
|
(byte)Common_Element_Tokens_ENUM.request_id,
|
|
0x04, 0x00, 0x00, 0x00, reqID,
|
|
(byte)Query_Request_Messages_Tokens_ENUM.SU_IPv4,
|
|
arr_radioID[0],
|
|
arr_radioID[1],
|
|
arr_radioID[2],
|
|
arr_radioID[3]
|
|
};
|
|
|
|
bool result = SendOnUDP(sendBytes, sendBytes.Length);
|
|
string consoleMessage = String.Format("{0} Triggered location STOP request for {1} [{2}]", (result ? "««« Sent" : "ooo Not Sent "), SUID, reqID);
|
|
LOGS.LOG(ConnectPlus_GW.cfg.gw_id + " " + consoleMessage);
|
|
|
|
Utils.ConsWrite(DebugMSG_Type.DB, consoleMessage);
|
|
}
|
|
|
|
|
|
/// <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 bool SendOnUDP(byte[] sendBytes, int length)
|
|
{
|
|
try
|
|
{
|
|
UdpClient udpClient = new UdpClient(ConnectPlus_GW.cfg.locPort_r);
|
|
//udpClient.Connect(ConnectPlus_GW.cfg.ctrlIP, ConnectPlus_GW.cfg.locPort);
|
|
|
|
IPAddress ctrIP = null;
|
|
if (!IPAddress.TryParse(ConnectPlus_GW.cfg.ctrlIP, out ctrIP))
|
|
{
|
|
ctrIP = Dns.GetHostAddresses(ConnectPlus_GW.cfg.ctrlIP)[0];
|
|
}
|
|
if (ctrIP == null)
|
|
{
|
|
Utils.ConsWrite(DebugMSG_Type.always, "[Location Thread] Invalid host address for: " + ConnectPlus_GW.cfg.ctrlIP);
|
|
}
|
|
|
|
udpClient.Send(sendBytes, length, new IPEndPoint(ctrIP, ConnectPlus_GW.cfg.locPort));
|
|
udpClient.Close();
|
|
udpClient = null;
|
|
|
|
return true;
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Utils.ConsWrite(DebugMSG_Type.always, "[Location Thread] Send on UDP exception: " + ex.ToString());
|
|
return false;
|
|
}
|
|
}
|
|
|
|
|
|
#region AUXILIARY FUNCTIONS
|
|
|
|
/// <summary>
|
|
/// Convert a received byte array to a string representation of hex elements
|
|
/// </summary>
|
|
/// <param name="data">The byte array that needs to be converted</param>
|
|
/// <returns>A hex based representation of the byte array</returns>
|
|
static public string Byte2String(byte[] data)
|
|
{
|
|
return Byte2String(data, 0, data.Length);
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Convert a portion of a byte array to a string representation of hex elements
|
|
/// </summary>
|
|
/// <param name="data">The byte array that needs to be converted<</param>
|
|
/// <param name="startIndex">Index from which the hex conversion begins</param>
|
|
/// <param name="len">The number of bytes which will be converted</param>
|
|
/// <returns>A hex based representation of the byte array</returns>
|
|
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;
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Return a human readable error based on the error received OTA from the field radio
|
|
/// </summary>
|
|
/// <param name="err">Error received from the field radio</param>
|
|
/// <returns>A human readable error name</returns>
|
|
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";
|
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Convert a byte array to a double value
|
|
/// </summary>
|
|
/// <param name="data">The byte array which contains the double value</param>
|
|
/// <param name="startIndex">The index from which the double value is stored</param>
|
|
/// <returns>The double value that resides in the byte array</returns>
|
|
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++;
|
|
}
|
|
return (double)int_part;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Convert a byte array to a dateTime value
|
|
/// </summary>
|
|
/// <param name="data">The byte array which contains the dateTime value</param>
|
|
/// <param name="startIndex">The index from which the dateTime value is stored</param>
|
|
/// <param name="len">The number of bytes which repesents the dateTime value</param>
|
|
/// <returns>The dateTime value that resides in the byte array</returns>
|
|
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"));
|
|
|
|
//Utils.ConsWrite(DebugMSG_Type.GPS, "GPSTime : " + YY + "/" + MM + "/" + DD + " " + hh + ":" + mm + ":" + ss);
|
|
return new DateTime(YY, MM, DD, hh, mm, ss, DateTimeKind.Utc);
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Gets the Latitude from the byte array
|
|
/// </summary>
|
|
/// <param name="data">The byte array which contains the Latitude value</param>
|
|
/// <param name="startIndex">The index from which the Latitude value is stored</param>
|
|
/// <param name="len">The number of bytes which repesents the Latitude value</param>
|
|
/// <returns>The Latitude value that resides in the byte array</returns>
|
|
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;
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Gets the Longitude from the byte array
|
|
/// </summary>
|
|
/// <param name="data">The byte array which contains the Longitude value</param>
|
|
/// <param name="startIndex">The index from which the Longitude value is stored</param>
|
|
/// <param name="len">The number of bytes which repesents the Longitude value</param>
|
|
/// <returns>The Longitude value that resides in the byte array</returns>
|
|
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;
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Gets the field radio ID from the byte array
|
|
/// </summary>
|
|
/// <param name="data">The byte array which contains the radioID value</param>
|
|
/// <param name="startIndex">The index from which the radioID value is stored</param>
|
|
/// <returns>The field radio ID value that resides in the byte array</returns>
|
|
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;
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Print a byte array on the console as a Hex representation
|
|
/// </summary>
|
|
/// <param name="data"></param>
|
|
/// <param name="length"></param>
|
|
/// <param name="inOut"></param>
|
|
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("--------------------------------------------------------------------------- ");
|
|
}
|
|
|
|
#endregion
|
|
}
|
|
}
|