Queue <byte[]> dataIsBeacon = new Queue <byte[]>(); //完整的信标的数据包
private void dealData()
{
byte res = 0;
while (dataQueue.Any())
{
if ((dataLength & 0X2000) != 0) //接收到包头
{
if ((dataLength & 0x8000) == 0) //接收未完成
{
if ((dataLength & 0x4000) != 0) //接收到包尾
{
dataLength |= 0X8000; //接收完成
}
else
{
res = dataQueue.Dequeue();
if (res == 0XFE)
{
allbag = true;
}
else if (allbag == true)
{
if (res == 0X01)
{
dataLength |= 0X4000;
allbag = false;
}
else
{
allbag = false;
}
}
lenByte[dataLength & 0X1FFF] = res;
dataLength++;
if (dataLength > (199 + 0X6000))
{
dataLength = 0; //接收错误重新开始
}
}
}
else//接收完成
{
int middleLength = (dataLength & 0X1FFF) - 2;
//TODO:判断数据的完整性
byte[] vs = new byte[middleLength];
Array.Copy(lenByte, vs, middleLength);
DataIsAll dataIsAll = new DataIsAll(vs);
this.Invoke(new Action(() =>
{
textBox1.AppendText($"{dataIsAll.carAddress}" + "号车-->");
textBox1.AppendText($"经度:{dataIsAll.longitude}" + " ");
textBox1.AppendText($"纬度:{dataIsAll.latitude}" + " ");
textBox1.AppendText("\r\n");
}));
if (vs[18] == 0X01)
{
allCarNum[lastNum] = false;
sendByte = vs;
nowNum = (sendByte[0] << 8) + sendByte[1];
allCarNum[nowNum] = true;
lastNum = nowNum;
}
else if (vs[18] == 0X00)
{
dataIsBeacon.Enqueue(vs);
}
dataLength = 0;
}
}
else
{
res = dataQueue.Dequeue();
if (res == 0X01)
{
allbag = true; //接收到包头(0X01和0XFE)
}
else if (allbag == true)
{
if (res == 0XFE)
{
dataLength |= 0X2000;
allbag = false;
}
else
{
allbag = false;
}
}
}
}
}
MyBeacon myBeacon4; //信标4
private void dealData()
{
byte res = 0;
while (dataQueue.Any())
{
if ((dataLength & 0X2000) != 0) //接收到包头
{
if ((dataLength & 0x8000) == 0) //接收未完成
{
if ((dataLength & 0x4000) != 0) //接收到包尾
{
dataLength |= 0X8000; //接收完成
}
else
{
res = dataQueue.Dequeue();
if (res == 0XFE)
{
allbag = true;
}
else if (allbag == true)
{
if (res == 0X01)
{
dataLength |= 0X4000;
allbag = false;
}
else
{
allbag = false;
}
}
lenByte[dataLength & 0X1FFF] = res;
dataLength++;
if (dataLength > (199 + 0X6000))
{
dataLength = 0; //接收错误重新开始
}
}
}
else//接收完成
{
int middleLength = (dataLength & 0X1FFF) - 2;
//TODO:判断数据的完整性
byte[] vsAndDestination = new byte[middleLength + 33];//获取包含距离的数据
Array.Copy(lenByte, vsAndDestination, middleLength);
DataIsAll dataIsAll = new DataIsAll(vsAndDestination);
if (vsAndDestination[18] == 0X01)//车子的坐标
{
this.Invoke(new Action(() =>
{
textBox1.AppendText($"{dataIsAll.carAddress}" + "号车-->");
textBox1.AppendText($"经度:{dataIsAll.longitude}" + " ");
textBox1.AppendText($"纬度:{dataIsAll.latitude}" + " ");
textBox1.AppendText("\r\n");
}));
allCarNum[lastNum] = false;
//获得距离信标的位置
byte[] distance1 = GetDistance(dataIsAll.latitude, dataIsAll.longitude, myBeacon1.beaconLatitude, myBeacon1.beaconLongitude);
byte[] distance2 = GetDistance(dataIsAll.latitude, dataIsAll.longitude, myBeacon2.beaconLatitude, myBeacon2.beaconLongitude);
byte[] distance3 = GetDistance(dataIsAll.latitude, dataIsAll.longitude, myBeacon3.beaconLatitude, myBeacon3.beaconLongitude);
byte[] distance4 = GetDistance(dataIsAll.latitude, dataIsAll.longitude, myBeacon3.beaconLatitude, myBeacon3.beaconLongitude);
Array.Copy(distance1, 0, vsAndDestination, middleLength, 8);
if (radioButton1.Checked)
{
vsAndDestination[middleLength + 32] = 0x00;
}
else if (radioButton2.Checked)
{
//获取各个信标的位置信息
Array.Copy(distance2, 0, vsAndDestination, middleLength + 8, 8);
Array.Copy(distance3, 0, vsAndDestination, middleLength + 16, 8);
Array.Copy(distance4, 0, vsAndDestination, middleLength + 24, 8);
vsAndDestination[middleLength + 32] = 0x01;
}
sendByte = vsAndDestination;
nowNum = (sendByte[0] << 8) + sendByte[1];
allCarNum[nowNum] = true;
lastNum = nowNum;
}
else if (vsAndDestination[18] == 0X00)//信标的坐标
{
if (dataIsAll.carAddress == 1)
{
myBeacon1.beaconLatitude = dataIsAll.latitude;
myBeacon1.beaconLongitude = dataIsAll.longitude;
myBeacon1.beaconLocation = dataIsAll.carAddress;
this.Invoke(new Action(() =>
{
beaconLatitude1.Text = myBeacon1.beaconLatitude.ToString();
beaconLongitude1.Text = myBeacon1.beaconLongitude.ToString();
}));
}
else if (dataIsAll.carAddress == 2)
{
myBeacon2.beaconLatitude = dataIsAll.latitude;
myBeacon2.beaconLongitude = dataIsAll.longitude;
myBeacon2.beaconLocation = dataIsAll.carAddress;
this.Invoke(new Action(() =>
{
beaconLatitude2.Text = myBeacon2.beaconLatitude.ToString();
beaconLongitude2.Text = myBeacon2.beaconLongitude.ToString();
}));
}
else if (dataIsAll.carAddress == 3)
{
myBeacon3.beaconLatitude = dataIsAll.latitude;
myBeacon3.beaconLongitude = dataIsAll.longitude;
myBeacon3.beaconLocation = dataIsAll.carAddress;
this.Invoke(new Action(() =>
{
beaconLatitude3.Text = myBeacon3.beaconLatitude.ToString();
beaconLongitude3.Text = myBeacon3.beaconLongitude.ToString();
}));
}
else if (dataIsAll.carAddress == 4)
{
myBeacon4.beaconLatitude = dataIsAll.latitude;
myBeacon4.beaconLongitude = dataIsAll.longitude;
myBeacon4.beaconLocation = dataIsAll.carAddress;
this.Invoke(new Action(() =>
{
beaconLatitude4.Text = myBeacon4.beaconLatitude.ToString();
beaconLongitude4.Text = myBeacon4.beaconLongitude.ToString();
}));
}
}
dataLength = 0;
}
}
else
{
res = dataQueue.Dequeue();
if (res == 0X01)
{
allbag = true; //接收到包头(0X01和0XFE)
}
else if (allbag == true)
{
if (res == 0XFE)
{
dataLength |= 0X2000;
allbag = false;
}
else
{
allbag = false;
}
}
}
}
}