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-rw-r--r--src/main/java/org/traccar/protocol/Mavlink2Protocol.java21
-rw-r--r--src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java139
2 files changed, 60 insertions, 100 deletions
diff --git a/src/main/java/org/traccar/protocol/Mavlink2Protocol.java b/src/main/java/org/traccar/protocol/Mavlink2Protocol.java
index ba051a854..d779648e4 100644
--- a/src/main/java/org/traccar/protocol/Mavlink2Protocol.java
+++ b/src/main/java/org/traccar/protocol/Mavlink2Protocol.java
@@ -1,11 +1,25 @@
+/*
+ * 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.bytes.ByteArrayDecoder;
-import io.netty.handler.codec.bytes.ByteArrayEncoder;
+import io.netty.handler.codec.LengthFieldBasedFrameDecoder;
public class Mavlink2Protocol extends BaseProtocol {
@@ -13,8 +27,7 @@ public class Mavlink2Protocol extends BaseProtocol {
addServer(new TrackerServer(true, getName()) {
@Override
protected void addProtocolHandlers(PipelineBuilder pipeline) {
- pipeline.addLast(new ByteArrayEncoder());
- pipeline.addLast(new ByteArrayDecoder());
+ 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
index d23398bce..666538479 100644
--- a/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java
+++ b/src/main/java/org/traccar/protocol/Mavlink2ProtocolDecoder.java
@@ -1,17 +1,31 @@
+/*
+ * 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.nio.ByteBuffer;
-import java.nio.ByteOrder;
import java.time.Instant;
-import java.util.Arrays;
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 {
@@ -21,105 +35,38 @@ public class Mavlink2ProtocolDecoder extends BaseProtocolDecoder {
}
@Override
- protected Object decode(Channel channel, SocketAddress remoteAddress, Object pkt) throws Exception {
- byte[] packet = (byte[]) pkt;
- /*
- * 0 uint8_t magic Packet start marker 0xFD Protocol-specific start-of-text
- * (STX) marker used to indicate the beginning of a new packet. Any system that
- * does not understand protocol version will skip the packet.
- * *
- * 1 uint8_t len Payload length 0 - 255 Indicates length of the following
- * payload section. This may be affected by payload truncation.
- * *
- * 2 uint8_t incompat_flags Incompatibility Flags Flags that must be understood
- * for MAVLink compatibility (implementation discards packet if it does not
- * understand flag).
- * *
- * 3 uint8_t compat_flags Compatibility Flags Flags that can be ignored if not
- * understood (implementation can still handle packet even if it does not
- * understand flag).
- * *
- * 4 uint8_t seq Packet sequence number 0 - 255 Used to detect packet loss.
- * Components increment value for each message sent.
- * *
- * 5 uint8_t sysid System ID (sender) 1 - 255 ID of system (vehicle) sending the
- * message. Used to differentiate systems on network. Note that the broadcast
- * address 0 may not be used in this field as it is an invalid source address.
- * *
- * 6 uint8_t compid Component ID (sender) 1 - 255 ID of component sending the
- * message. Used to differentiate components in a system (e.g. autopilot and a
- * camera). Use appropriate values in MAV_COMPONENT. Note that the broadcast
- * address MAV_COMP_ID_ALL may not be used in this field as it is an invalid
- * source address.
- * *
- * 7 to 9 uint32_t msgid:24 Message ID (low, middle, high bytes) 0 - 16777215 ID
- * of message type in payload. Used to decode data back into message object.
- * *
- * 10 to (n+10) uint8_t payload[max 255] Payload Message data. Depends on
- * message type (i.e. Message ID) and contents.
- * *
- * (n+10) to (n+11) uint16_t checksum Checksum (low byte, high byte)
- * CRC-16/MCRF4XX for message (excluding magic byte). Includes CRC_EXTRA byte.
- * *
- * (n+12) to (n+25) uint8_t signature[13] Signature (Optional) Signature to
- * ensure the link is tamper-proof.
- */
-
- if (packet[0] != (byte) 0xfd) {
+ protected Object decode(Channel channel, SocketAddress remoteAddress, Object msg) throws Exception {
+ ByteBuf buf = (ByteBuf) msg;
+ if (buf.readUnsignedByte() != 0xFD) { //Packet start marker
return null;
}
-
- int msgid = (packet[7] & 0xff) | ((packet[8] & 0xff) << 8) | ((packet[9] & 0x0f) << 16);
- int len = packet[1] & 0xff;
- int sysid = packet[5] & 0xff;
- // GLOBAL_POSITION_INT ( #33 )
- if (msgid == 33) {
- byte[] message = Arrays.copyOfRange(packet, 10, 10 + len);
- /*
- * time_boot_ms uint32_t ms Timestamp (time since system boot).
- * *
- * lat int32_t degE7 Latitude, expressed
- * *
- * lon int32_t degE7 Longitude, expressed
- * *
- * alt int32_t mm Altitude (MSL). Note that virtually all GPS modules provide
- * both WGS84 and MSL.
- * *
- * relative_alt int32_t mm Altitude above ground
- * *
- * vx int16_t cm/s Ground X Speed (Latitude, positive north)
- * *
- * vy int16_t cm/s Ground Y Speed (Longitude, positive east)
- * *
- * vz int16_t cm/s Ground Z Speed (Altitude, positive down)
- * *
- * hdg uint16_t cdeg Vehicle heading (yaw angle), 0.0..359.99 degrees. If
- * unknown, set to: UINT16_MAX
- */
-
- // int timeBootms = ByteBuffer.wrap(message, 0, 4).order(ByteOrder.LITTLE_ENDIAN).getInt();
- int lat = ByteBuffer.wrap(message, 4, 4).order(ByteOrder.LITTLE_ENDIAN).getInt();
- int lon = ByteBuffer.wrap(message, 8, 4).order(ByteOrder.LITTLE_ENDIAN).getInt();
- int alt = ByteBuffer.wrap(message, 12, 4).order(ByteOrder.LITTLE_ENDIAN).getInt();
- int vx = ByteBuffer.wrap(message, 20, 2).order(ByteOrder.LITTLE_ENDIAN).getShort();
- int vy = ByteBuffer.wrap(message, 22, 2).order(ByteOrder.LITTLE_ENDIAN).getShort();
- int hdg = ByteBuffer.wrap(message, 26, 2).order(ByteOrder.LITTLE_ENDIAN).getShort();
- DeviceSession deviceSession = getDeviceSession(channel, remoteAddress, Integer.toString(sysid));
- if (deviceSession == null) {
- 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.ofEpochMilli(timeBootms)));
position.setTime(Date.from(Instant.now()));
- position.setLatitude(lat / 1e7);
- position.setLongitude(lon / 1e7);
- position.setAltitude(alt / 1e3);
- double speed = Math.sqrt(Math.pow(vx, 2) + Math.pow(vy, 2));
- // cm/s to kn
- position.setSpeed(speed * 0.01943844);
- position.setCourse(hdg / 1e2);
+ 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;
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-04 17:32:52 +0000