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-rw-r--r--src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java50
1 files changed, 30 insertions, 20 deletions
diff --git a/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java b/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java
index 666538479..431258388 100644
--- a/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java
+++ b/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java
@@ -15,18 +15,16 @@
*/
package org.traccar.protocol;
-import java.net.SocketAddress;
-import java.time.Instant;
-import java.util.Date;
-
+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 io.netty.buffer.ByteBuf;
-import io.netty.channel.Channel;
+import java.net.SocketAddress;
+import java.util.Date;
public class Mavlink2ProtocolDecoder extends BaseProtocolDecoder {
@@ -36,39 +34,51 @@ public class Mavlink2ProtocolDecoder extends BaseProtocolDecoder {
@Override
protected Object decode(Channel channel, SocketAddress remoteAddress, Object msg) throws Exception {
+
ByteBuf buf = (ByteBuf) msg;
- if (buf.readUnsignedByte() != 0xFD) { //Packet start marker
+ if (buf.readUnsignedByte() != 0xFD) {
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)
+
+ 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));
- buf.readUnsignedByte(); // Component ID (sender)
if (deviceSession == null) {
return null;
}
- int messageId = buf.readUnsignedMediumLE(); // Message ID (low, middle, high bytes)
- if (messageId == 33) {
+
+ 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(Date.from(Instant.now()));
- position.set("timeBootms", buf.readUnsignedIntLE()); // Timestamp (time since system boot).
+ position.setTime(new Date());
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
+ position.setAltitude(buf.readIntLE() / 1000.0);
+ position.set("relativeAltitude", buf.readIntLE() / 1000.0);
+
int groundSpeedX = buf.readShortLE();
int groundSpeedY = buf.readShortLE();
- buf.readShortLE(); // Ground Z Speed
+ 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;
}