diff options
Diffstat (limited to 'src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java')
-rw-r--r-- | src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java | 85 |
1 files changed, 85 insertions, 0 deletions
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..431258388 --- /dev/null +++ b/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java @@ -0,0 +1,85 @@ +/* + * 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 io.netty.buffer.ByteBuf; +import io.netty.channel.Channel; +import org.traccar.BaseProtocolDecoder; +import org.traccar.DeviceSession; +import org.traccar.Protocol; +import org.traccar.helper.UnitsConverter; +import org.traccar.model.Position; + +import java.net.SocketAddress; +import java.util.Date; + +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) { + return null; + } + + buf.readUnsignedByte(); // length + buf.readUnsignedByte(); // incompatibility flags + buf.readUnsignedByte(); // compatibility flags + buf.readUnsignedByte(); // index + + int senderSystemId = buf.readUnsignedByte(); + buf.readUnsignedByte(); // component id + DeviceSession deviceSession = getDeviceSession(channel, remoteAddress, Integer.toString(senderSystemId)); + if (deviceSession == null) { + return null; + } + + int type = buf.readUnsignedMediumLE(); + if (type == 33) { + + Position position = new Position(getProtocolName()); + position.setDeviceId(deviceSession.getDeviceId()); + + position.set("timeBoot", buf.readUnsignedIntLE()); // time since system boot + + position.setValid(true); + position.setTime(new Date()); + position.setLatitude(buf.readIntLE() / 10000000.0); + position.setLongitude(buf.readIntLE() / 10000000.0); + position.setAltitude(buf.readIntLE() / 1000.0); + position.set("relativeAltitude", buf.readIntLE() / 1000.0); + + int groundSpeedX = buf.readShortLE(); + int groundSpeedY = buf.readShortLE(); + buf.readShortLE(); // ground speed z + 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; + } + +} |