/// <summary>
/// 接收消息处理
/// </summary>
private void ReceiveMessage(CancellationToken ct)
{
//监听所有设备发来的UDP消息
IPEndPoint ipendpoint = new IPEndPoint(IPAddress.Any, Port);
while (!LifeTimeControl.closing)
{
if (ct.IsCancellationRequested)
{
udpcRecv.Close();
logger.Info("GPS UDP监听器已关闭");
return;
}
try
{
//UDP接收GPS数据格式：
//4字节：Type = 5;
//4字节：设备ID；
//8字节：时间戳；
//后续数据：标准的NMEA 0183协议GPS数据
byte[] bytes = udpcRecv.Receive(ref ipendpoint);
int deviceId = bytes[4] << 24 | bytes[5] << 16 | bytes[6] << 8 | bytes[7];
byte[] gpsdata = new byte[bytes.Length - GPS_MESSAGE_HEADER_LENGTH];
for (int i = GPS_MESSAGE_HEADER_LENGTH; i < bytes.Length; i++)
{
gpsdata[i - GPS_MESSAGE_HEADER_LENGTH] = bytes[i];
}
string message = Encoding.Default.GetString(gpsdata, 0, gpsdata.Length);
logger.Info("收到来自ID为“" + deviceId +
"”的UDP消息：“" + message + "”。");
if (message.StartsWith("$GPRMC"))
{
//切割字符串
string[] temp = message.Split(',');
GPSInfo info = new GPSInfo();
info.ID = (bytes[4] << 24 | bytes[5] << 16 | bytes[6] << 8 | bytes[7]).ToString(); //设备的ID
try
{
//如果接收到的经纬度信息为空，则继续下次数据接收
if (temp[3].Trim() == "" || temp[5].Trim() == "")
{
logger.Warn("接收到的GPS位置信号为空!");
continue;
}
double[] latLon = GPS2BD09.wgs2bd(Double.Parse(temp[3].Substring(0, 2))
+ Double.Parse(temp[3].Substring(2)) / 60.0,
Double.Parse(temp[5].Substring(0, 3))
+ Double.Parse(temp[5].Substring(3)) / 60.0);
info.Lat = latLon[0];
info.Lon = latLon[1];
}
catch (Exception ex)
{
//经纬度解析异常，继续下次数据接收
logger.Error("接收到的GPS位置信号有问题!", ex);
continue;
}
info.Time = DateTime.Now.ToString();
//保存GPS信息到相应文件中
FileUtils.AppendGPSInfoToFile(info);
//上报GPS更新信息
RaiseReceiveGPS(info);
}
}
catch (Exception ex)
{
logger.Error("接收数据出现异常", ex);
}
}
}
