Merge pull request #4672 from AuroraRAS/mavlink2_udp

Add mavlink2 protocol support

3 files changed, 125 insertions, 0 deletions

diff --git a/src/main/java/org/traccar/protocol/Mavlink2Protocol.java b/src/main/java/org/traccar/protocol/Mavlink2Protocol.java
new file mode 100644
index 000000000..d779648e4
--- /dev/null
+++ b/src/main/java/org/traccar/protocol/Mavlink2Protocol.java
@@ -0,0 +1,36 @@
+/*
+ * Copyright 2021 Chipeng Li (chplee@gmail.com)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.traccar.protocol;
+
+import org.traccar.BaseProtocol;
+import org.traccar.PipelineBuilder;
+import org.traccar.TrackerServer;
+
+import io.netty.handler.codec.LengthFieldBasedFrameDecoder;
+
+public class Mavlink2Protocol extends BaseProtocol {
+
+    public Mavlink2Protocol() {
+        addServer(new TrackerServer(true, getName()) {
+            @Override
+            protected void addProtocolHandlers(PipelineBuilder pipeline) {
+                pipeline.addLast(new LengthFieldBasedFrameDecoder(1024, 1, 1, 10, 0));
+                pipeline.addLast(new Mavlink2ProtocolDecoder(Mavlink2Protocol.this));
+            }
+        });
+    }
+
+}
diff --git a/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java b/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java
new file mode 100644
index 000000000..666538479
--- /dev/null
+++ b/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java
@@ -0,0 +1,75 @@
+/*
+ * Copyright 2021 Chipeng Li (chplee@gmail.com)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.traccar.protocol;
+
+import java.net.SocketAddress;
+import java.time.Instant;
+import java.util.Date;
+
+import org.traccar.BaseProtocolDecoder;
+import org.traccar.DeviceSession;
+import org.traccar.Protocol;
+import org.traccar.helper.UnitsConverter;
+import org.traccar.model.Position;
+
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.Channel;
+
+public class Mavlink2ProtocolDecoder extends BaseProtocolDecoder {
+
+    public Mavlink2ProtocolDecoder(Protocol protocol) {
+        super(protocol);
+    }
+
+    @Override
+    protected Object decode(Channel channel, SocketAddress remoteAddress, Object msg) throws Exception {
+        ByteBuf buf = (ByteBuf) msg;
+        if (buf.readUnsignedByte() != 0xFD) { //Packet start marker
+            return null;
+        }
+        buf.readUnsignedByte(); // Payload length
+        buf.readUnsignedByte(); // Incompatibility Flags
+        buf.readUnsignedByte(); // Compatibility Flags
+        buf.readUnsignedByte(); // Packet sequence number
+        int senderSystemId = buf.readUnsignedByte(); // System ID (sender)
+        DeviceSession deviceSession = getDeviceSession(channel, remoteAddress, Integer.toString(senderSystemId));
+        buf.readUnsignedByte(); // Component ID (sender)
+        if (deviceSession == null) {
+            return null;
+        }
+        int messageId = buf.readUnsignedMediumLE(); // Message ID (low, middle, high bytes)
+        if (messageId == 33) {
+            Position position = new Position(getProtocolName());
+            position.setDeviceId(deviceSession.getDeviceId());
+            position.setValid(true);
+            position.setTime(Date.from(Instant.now()));
+            position.set("timeBootms", buf.readUnsignedIntLE()); // Timestamp (time since system boot).
+            position.setLatitude(buf.readIntLE() / 10000000.0);
+            position.setLongitude(buf.readIntLE() / 10000000.0);
+            position.setAltitude(buf.readIntLE() / 1000.0); // Altitude (MSL).
+            position.set("relativeAltitude", buf.readIntLE() / 1000.0); // Altitude above ground
+            int groundSpeedX = buf.readShortLE();
+            int groundSpeedY = buf.readShortLE();
+            buf.readShortLE(); // Ground Z Speed
+            double speed = Math.sqrt(Math.pow(groundSpeedX, 2) + Math.pow(groundSpeedY, 2));
+            position.setSpeed(UnitsConverter.knotsFromCps(speed));
+            position.setCourse(buf.readUnsignedShortLE() / 100.0);
+            return position;
+        }
+        return null;
+    }
+
+}
diff --git a/src/test/java/org/traccar/protocol/Mavlink2ProtocolDecoderTest.java b/src/test/java/org/traccar/protocol/Mavlink2ProtocolDecoderTest.java
new file mode 100644
index 000000000..f4b6d8229
--- /dev/null
+++ b/src/test/java/org/traccar/protocol/Mavlink2ProtocolDecoderTest.java
@@ -0,0 +1,14 @@
+package org.traccar.protocol;
+
+import org.junit.Test;
+import org.traccar.ProtocolTest;
+
+public class Mavlink2ProtocolDecoderTest extends ProtocolTest {
+
+    @Test
+    public void testDecode() throws Exception {
+        var decoder = new Mavlink2ProtocolDecoder(null);
+        verifyAttributes(decoder, binary("fd1c0000ce01012100004da91f004005d323b89aa30ea6ed070099fb0100f7fffdff0000942c4a88"));
+        verifyAttributes(decoder, binary("fd1c0000e7010121000047aa1f004005d323b89aa30e9ced070093fb0100f8fffdff0000952c70ff"));
+    }
+}