1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
|
/*
* Copyright 2013 Anton Tananaev (anton.tananaev@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.nio.ByteOrder;
import java.util.Date;
import org.jboss.netty.buffer.ChannelBuffer;
import org.jboss.netty.buffer.ChannelBuffers;
import org.jboss.netty.channel.Channel;
import org.jboss.netty.channel.ChannelHandlerContext;
import org.traccar.BaseProtocolDecoder;
import org.traccar.helper.Crc;
import org.traccar.helper.UnitsConverter;
import org.traccar.model.Event;
import org.traccar.model.Position;
public class NavigilProtocolDecoder extends BaseProtocolDecoder {
public NavigilProtocolDecoder(String protocol) {
super(protocol);
}
private static final int LEAP_SECONDS_DELTA = 25;
private static final int MESSAGE_ERROR = 2;
private static final int MESSAGE_INDICATION = 4;
private static final int MESSAGE_CONN_OPEN = 5;
private static final int MESSAGE_CONN_CLOSE = 6;
private static final int MESSAGE_SYSTEM_REPORT = 7;
private static final int MESSAGE_UNIT_REPORT = 8;
private static final int MESSAGE_GEOFENCE_ALARM = 10;
private static final int MESSAGE_INPUT_ALARM = 11;
private static final int MESSAGE_TG2_REPORT = 12;
private static final int MESSAGE_POSITION_REPORT = 13;
private static final int MESSAGE_POSITION_REPORT_2 = 15;
private static final int MESSAGE_SNAPSHOT4 = 17;
private static final int MESSAGE_TRACKING_DATA = 18;
private static final int MESSAGE_MOTION_ALARM = 19;
private static final int MESSAGE_ACKNOWLEDGEMENT = 255;
private static Date convertTimestamp(long timestamp) {
return new Date((timestamp - LEAP_SECONDS_DELTA) * 1000l);
}
private int senderSequenceNumber = 1;
private void sendAcknowledgment(Channel channel, int sequenceNumber) {
ChannelBuffer data = ChannelBuffers.directBuffer(ByteOrder.LITTLE_ENDIAN, 4);
data.writeShort(sequenceNumber);
data.writeShort(0); // OK
ChannelBuffer header = ChannelBuffers.directBuffer(ByteOrder.LITTLE_ENDIAN, 20);
header.writeByte(1); header.writeByte(0);
header.writeShort(senderSequenceNumber++);
header.writeShort(MESSAGE_ACKNOWLEDGEMENT);
header.writeShort(header.capacity() + data.capacity());
header.writeShort(0);
header.writeShort(Crc.crc16X25Ccitt(data.toByteBuffer()));
header.writeInt(0);
header.writeInt((int) (new Date().getTime() / 1000) + LEAP_SECONDS_DELTA);
if (channel != null) {
channel.write(ChannelBuffers.copiedBuffer(header, data));
}
}
private Position parseUnitReport(ChannelBuffer buf, int sequenceNumber) {
Position position = new Position();
position.setProtocol(getProtocol());
position.setValid(true);
position.set(Event.KEY_INDEX, sequenceNumber);
position.setDeviceId(getDeviceId());
buf.readUnsignedShort(); // report trigger
buf.readUnsignedShort(); // flags
position.setLatitude(buf.readInt() * 0.0000001);
position.setLongitude(buf.readInt() * 0.0000001);
position.setAltitude( buf.readUnsignedShort());
buf.readUnsignedShort(); // satellites in fix
buf.readUnsignedShort(); // satellites in track
buf.readUnsignedShort(); // GPS antenna state
position.setSpeed(buf.readUnsignedShort() * 0.194384);
position.setCourse(buf.readUnsignedShort());
buf.readUnsignedInt(); // distance
buf.readUnsignedInt(); // delta distance
position.set(Event.KEY_BATTERY, buf.readUnsignedShort() * 0.001);
buf.readUnsignedShort(); // battery charger status
position.setTime(convertTimestamp(buf.readUnsignedInt()));
// TODO: a lot of other stuff
return position;
}
private Position parseTg2Report(ChannelBuffer buf, int sequenceNumber) {
Position position = new Position();
position.setProtocol(getProtocol());
position.setValid(true);
position.set(Event.KEY_INDEX, sequenceNumber);
position.setDeviceId(getDeviceId());
buf.readUnsignedShort(); // report trigger
buf.readUnsignedByte(); // reserved
buf.readUnsignedByte(); // assisted GPS age
position.setTime(convertTimestamp(buf.readUnsignedInt()));
position.setLatitude(buf.readInt() * 0.0000001);
position.setLongitude(buf.readInt() * 0.0000001);
position.setAltitude(buf.readUnsignedShort());
buf.readUnsignedByte(); // satellites in fix
buf.readUnsignedByte(); // satellites in track
position.setSpeed(buf.readUnsignedShort() * 0.194384);
position.setCourse(buf.readUnsignedShort());
buf.readUnsignedInt(); // distance
buf.readUnsignedShort(); // maximum speed
buf.readUnsignedShort(); // minimum speed
buf.readUnsignedShort(); // VSAUT1 voltage
buf.readUnsignedShort(); // VSAUT2 voltage
buf.readUnsignedShort(); // solar voltage
position.set(Event.KEY_BATTERY, buf.readUnsignedShort() * 0.001);
// TODO: a lot of other stuff
return position;
}
private Position parsePositionReport(ChannelBuffer buf, int sequenceNumber, long timestamp) {
Position position = new Position();
position.setProtocol(getProtocol());
position.set(Event.KEY_INDEX, sequenceNumber);
position.setDeviceId(getDeviceId());
position.setTime(convertTimestamp(timestamp));
position.setLatitude(buf.readMedium() * 0.00002);
position.setLongitude(buf.readMedium() * 0.00002);
position.setSpeed(UnitsConverter.knotsFromKph(buf.readUnsignedByte()));
position.setCourse(buf.readUnsignedByte() * 2);
short flags = buf.readUnsignedByte();
position.setValid((flags & 0x80) == 0x80 && (flags & 0x40) == 0x40);
buf.readUnsignedByte(); // reserved
return position;
}
private Position parsePositionReport2(ChannelBuffer buf, int sequenceNumber, long timestamp) {
Position position = new Position();
position.setProtocol(getProtocol());
position.set(Event.KEY_INDEX, sequenceNumber);
position.setDeviceId(getDeviceId());
position.setTime(convertTimestamp(timestamp));
position.setLatitude(buf.readInt() * 0.0000001);
position.setLongitude(buf.readInt() * 0.0000001);
buf.readUnsignedByte(); // report trigger
position.setSpeed(UnitsConverter.knotsFromKph(buf.readUnsignedByte()));
short flags = buf.readUnsignedByte();
position.setValid((flags & 0x80) == 0x80 && (flags & 0x40) == 0x40);
int x = buf.readUnsignedByte(); // satellites in fix
buf.readUnsignedInt(); // distance
return position;
}
private Position parseSnapshot4(ChannelBuffer buf, int sequenceNumber) {
Position position = new Position();
position.setProtocol(getProtocol());
position.set(Event.KEY_INDEX, sequenceNumber);
position.setDeviceId(getDeviceId());
buf.readUnsignedByte(); // report trigger
buf.readUnsignedByte(); // position fix source
buf.readUnsignedByte(); // GNSS fix quality
buf.readUnsignedByte(); // GNSS assistance age
long flags = buf.readUnsignedInt();
position.setValid((flags & 0x0400) == 0x0400);
position.setTime(convertTimestamp(buf.readUnsignedInt()));
position.setLatitude(buf.readInt() * 0.0000001);
position.setLongitude(buf.readInt() * 0.0000001);
position.setAltitude(buf.readUnsignedShort());
buf.readUnsignedByte(); // satellites in fix
buf.readUnsignedByte(); // satellites in track
position.setSpeed(buf.readUnsignedShort() * 0.194384);
position.setCourse(buf.readUnsignedShort() * 0.1);
buf.readUnsignedByte(); // maximum speed
buf.readUnsignedByte(); // minimum speed
buf.readUnsignedInt(); // distance
buf.readUnsignedByte(); // supply voltage 1
buf.readUnsignedByte(); // supply voltage 2
position.set(Event.KEY_BATTERY, buf.readUnsignedShort() * 0.001);
// TODO: a lot of other stuff
return position;
}
private Position parseTrackingData(ChannelBuffer buf, int sequenceNumber, long timestamp) {
Position position = new Position();
position.setProtocol(getProtocol());
position.set(Event.KEY_INDEX, sequenceNumber);
position.setDeviceId(getDeviceId());
position.setTime(convertTimestamp(timestamp));
buf.readUnsignedByte(); // tracking mode
short flags = buf.readUnsignedByte();
position.setValid((flags & 0x01) == 0x01);
buf.readUnsignedShort(); // duration
position.setLatitude(buf.readInt() * 0.0000001);
position.setLongitude(buf.readInt() * 0.0000001);
position.setSpeed(UnitsConverter.knotsFromKph(buf.readUnsignedByte()));
position.setCourse(buf.readUnsignedByte() * 2.0);
buf.readUnsignedByte(); // satellites in fix
position.set(Event.KEY_BATTERY, buf.readUnsignedShort() * 0.001);
buf.readUnsignedInt(); // distance
return position;
}
@Override
protected Object decode(ChannelHandlerContext ctx, Channel channel, Object msg)
throws Exception {
ChannelBuffer buf = (ChannelBuffer) msg;
buf.readUnsignedByte(); // protocol version
buf.readUnsignedByte(); // version id
int sequenceNumber = buf.readUnsignedShort();
int messageId = buf.readUnsignedShort();
buf.readUnsignedShort(); // length
int flags = buf.readUnsignedShort();
buf.readUnsignedShort(); // checksum
// Get device identifier
if (!identify(String.valueOf(buf.readUnsignedInt()))) {
return null;
}
long timestamp = buf.readUnsignedInt(); // message timestamp
// Acknowledgment
if ((flags & 0x1) == 0x0) {
sendAcknowledgment(channel, sequenceNumber);
}
// Parse messages
switch (messageId) {
case MESSAGE_UNIT_REPORT:
return parseUnitReport(buf, sequenceNumber);
case MESSAGE_TG2_REPORT:
return parseTg2Report(buf, sequenceNumber);
case MESSAGE_POSITION_REPORT:
return parsePositionReport(buf, sequenceNumber, timestamp);
case MESSAGE_POSITION_REPORT_2:
return parsePositionReport2(buf, sequenceNumber, timestamp);
case MESSAGE_SNAPSHOT4:
return parseSnapshot4(buf, sequenceNumber);
case MESSAGE_TRACKING_DATA:
return parseTrackingData(buf, sequenceNumber, timestamp);
}
return null;
}
}
|
