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authorAnton Tananaev <anton.tananaev@gmail.com>2021-05-05 18:44:29 -0700
committerGitHub <noreply@github.com>2021-05-05 18:44:29 -0700
commit9330669fa5456d7be2395c395fbc4dde4635e923 (patch)
tree8d7c7e3236a0b14c5baf95812a0ceab92a38f3e5 /src/main/java/org
parent9ee31327f5eb7f5384345064b501eedecbb7f3b0 (diff)
parent2f398690b1c4ddb837ff59a92ed6caea54d35772 (diff)
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Merge pull request #4672 from AuroraRAS/mavlink2_udp
Add mavlink2 protocol support
Diffstat (limited to 'src/main/java/org')
-rw-r--r--src/main/java/org/traccar/protocol/Mavlink2Protocol.java36
-rw-r--r--src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java75
2 files changed, 111 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;
+ }
+
+}