diff options
4 files changed, 126 insertions, 0 deletions
diff --git a/setup/default.xml b/setup/default.xml index 8206e9973..2c9cb1042 100644 --- a/setup/default.xml +++ b/setup/default.xml @@ -288,5 +288,6 @@ <entry key='navtelecom.port'>5221</entry> <entry key='startek.port'>5222</entry> <entry key='gs100.port'>5223</entry> + <entry key='mavlink2.port'>5224</entry> </properties> 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")); + } +} |