/* * Copyright 2012 - 2019 Anton Tananaev (anton@traccar.org) * * 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 io.netty.buffer.ByteBuf; import io.netty.buffer.Unpooled; import io.netty.channel.Channel; import org.traccar.BaseProtocolDecoder; import org.traccar.DeviceSession; import org.traccar.NetworkMessage; import org.traccar.Protocol; import org.traccar.helper.BitUtil; import org.traccar.helper.Checksum; import org.traccar.helper.Checksum.Algorithm; import org.traccar.helper.DateBuilder; import org.traccar.helper.UnitsConverter; import org.traccar.model.Position; import java.net.SocketAddress; import java.nio.charset.StandardCharsets; import java.util.LinkedList; import java.util.List; import java.util.Date; public class NavisProtocolDecoder extends BaseProtocolDecoder { private static final int[] FLEX_FIELDS_SIZES = { 4, 2, 4, 1, 1, 1, 1, 1, 4, 4, 4, 4, 4, 2, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 4, 4, 2, 2, 4, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 4, 2, 1, 4, 2, 2, 2, 2, 2, 1, 1, 1, 2, 4, 2, 1, /* FLEX 2.0 */ 8, 2, 1, 16, 4, 2, 4, 37, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 6, 12, 24, 48, 1, 1, 1, 1, 4, 4, 1, 4, 2, 6, 2, 6, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 1 }; private String prefix; private long deviceUniqueId, serverId; private int flexDataSize; private int flexBitFieldSize; private final byte[] flexBitField = new byte[16]; public NavisProtocolDecoder(Protocol protocol) { super(protocol); } public static final int F10 = 0x01; public static final int F20 = 0x02; public static final int F30 = 0x03; public static final int F40 = 0x04; public static final int F50 = 0x05; public static final int F51 = 0x15; public static final int F52 = 0x25; public static final int F60 = 0x06; public int getFlexDataSize() { return flexDataSize; } private static boolean isFormat(int type, int... types) { for (int i : types) { if (type == i) { return true; } } return false; } private Position parseNtcbPosition(DeviceSession deviceSession, ByteBuf buf) { Position position = new Position(getProtocolName()); position.setDeviceId(deviceSession.getDeviceId()); int format; if (buf.getUnsignedByte(buf.readerIndex()) == 0) { format = buf.readUnsignedShortLE(); } else { format = buf.readUnsignedByte(); } position.set("format", format); position.set(Position.KEY_INDEX, buf.readUnsignedIntLE()); position.set(Position.KEY_EVENT, buf.readUnsignedShortLE()); buf.skipBytes(6); // event time short armedStatus = buf.readUnsignedByte(); if (isFormat(format, F10, F20, F30, F40, F50, F51, F52)) { position.set(Position.KEY_ARMED, BitUtil.to(armedStatus, 7)); if (BitUtil.check(armedStatus, 7)) { position.set(Position.KEY_ALARM, Position.ALARM_GENERAL); } } else if (isFormat(format, F60)) { position.set(Position.KEY_ARMED, BitUtil.check(armedStatus, 0)); if (BitUtil.check(armedStatus, 1)) { position.set(Position.KEY_ALARM, Position.ALARM_GENERAL); } } position.set(Position.KEY_STATUS, buf.readUnsignedByte()); position.set(Position.KEY_RSSI, buf.readUnsignedByte()); if (isFormat(format, F10, F20, F30)) { int output = buf.readUnsignedShortLE(); position.set(Position.KEY_OUTPUT, output); for (int i = 0; i < 16; i++) { position.set(Position.PREFIX_OUT + (i + 1), BitUtil.check(output, i)); } } else if (isFormat(format, F50, F51, F52)) { short extField = buf.readUnsignedByte(); position.set(Position.KEY_OUTPUT, BitUtil.to(extField, 2)); position.set(Position.PREFIX_OUT + 1, BitUtil.check(extField, 0)); position.set(Position.PREFIX_OUT + 2, BitUtil.check(extField, 1)); position.set(Position.KEY_SATELLITES, BitUtil.from(extField, 2)); } else if (isFormat(format, F40, F60)) { short output = buf.readUnsignedByte(); position.set(Position.KEY_OUTPUT, BitUtil.to(output, 4)); for (int i = 0; i < 4; i++) { position.set(Position.PREFIX_OUT + (i + 1), BitUtil.check(output, i)); } } if (isFormat(format, F10, F20, F30, F40)) { int input = buf.readUnsignedShortLE(); position.set(Position.KEY_INPUT, input); if (!isFormat(format, F40)) { for (int i = 0; i < 16; i++) { position.set(Position.PREFIX_IN + (i + 1), BitUtil.check(input, i)); } } else { position.set(Position.PREFIX_IN + 1, BitUtil.check(input, 0)); position.set(Position.PREFIX_IN + 2, BitUtil.check(input, 1)); position.set(Position.PREFIX_IN + 3, BitUtil.check(input, 2)); position.set(Position.PREFIX_IN + 4, BitUtil.check(input, 3)); position.set(Position.PREFIX_IN + 5, BitUtil.between(input, 4, 7)); position.set(Position.PREFIX_IN + 6, BitUtil.between(input, 7, 10)); position.set(Position.PREFIX_IN + 7, BitUtil.between(input, 10, 12)); position.set(Position.PREFIX_IN + 8, BitUtil.between(input, 12, 14)); } } else if (isFormat(format, F50, F51, F52, F60)) { short input = buf.readUnsignedByte(); position.set(Position.KEY_INPUT, input); for (int i = 0; i < 8; i++) { position.set(Position.PREFIX_IN + (i + 1), BitUtil.check(input, i)); } } position.set(Position.KEY_POWER, buf.readUnsignedShortLE() * 0.001); position.set(Position.KEY_BATTERY, buf.readUnsignedShortLE() * 0.001); if (isFormat(format, F10, F20, F30)) { position.set(Position.PREFIX_TEMP + 1, buf.readShortLE()); } if (isFormat(format, F10, F20, F50, F51, F52, F60)) { position.set(Position.PREFIX_ADC + 1, buf.readUnsignedShortLE()); position.set(Position.PREFIX_ADC + 2, buf.readUnsignedShortLE()); } if (isFormat(format, F60)) { position.set(Position.PREFIX_ADC + 3, buf.readUnsignedShortLE()); } // Impulse counters if (isFormat(format, F20, F50, F51, F52, F60)) { buf.readUnsignedIntLE(); buf.readUnsignedIntLE(); } if (isFormat(format, F60)) { // Fuel buf.readUnsignedShortLE(); buf.readUnsignedShortLE(); buf.readByte(); buf.readShortLE(); buf.readByte(); buf.readUnsignedShortLE(); buf.readByte(); buf.readUnsignedShortLE(); buf.readByte(); buf.readUnsignedShortLE(); buf.readByte(); buf.readUnsignedShortLE(); buf.readByte(); buf.readUnsignedShortLE(); buf.readByte(); buf.readUnsignedShortLE(); buf.readByte(); buf.readUnsignedShortLE(); position.set(Position.PREFIX_TEMP + 1, buf.readByte()); position.set(Position.PREFIX_TEMP + 2, buf.readByte()); position.set(Position.PREFIX_TEMP + 3, buf.readByte()); position.set(Position.PREFIX_TEMP + 4, buf.readByte()); position.set(Position.KEY_AXLE_WEIGHT, buf.readIntLE()); position.set(Position.KEY_RPM, buf.readUnsignedShortLE()); } if (isFormat(format, F20, F50, F51, F52, F60)) { int navSensorState = buf.readUnsignedByte(); position.setValid(BitUtil.check(navSensorState, 1)); if (isFormat(format, F60)) { position.set(Position.KEY_SATELLITES, BitUtil.from(navSensorState, 2)); } DateBuilder dateBuilder = new DateBuilder() .setTime(buf.readUnsignedByte(), buf.readUnsignedByte(), buf.readUnsignedByte()) .setDateReverse(buf.readUnsignedByte(), buf.readUnsignedByte() + 1, buf.readUnsignedByte()); position.setTime(dateBuilder.getDate()); if (isFormat(format, F60)) { position.setLatitude(buf.readIntLE() / 600000.0); position.setLongitude(buf.readIntLE() / 600000.0); position.setAltitude(buf.readIntLE() * 0.1); } else { position.setLatitude(buf.readFloatLE() / Math.PI * 180); position.setLongitude(buf.readFloatLE() / Math.PI * 180); } position.setSpeed(UnitsConverter.knotsFromKph(buf.readFloatLE())); position.setCourse(buf.readUnsignedShortLE()); position.set(Position.KEY_ODOMETER, buf.readFloatLE() * 1000); position.set(Position.KEY_DISTANCE, buf.readFloatLE() * 1000); // Segment times buf.readUnsignedShortLE(); buf.readUnsignedShortLE(); } // Other if (isFormat(format, F51, F52)) { buf.readUnsignedShortLE(); buf.readByte(); buf.readUnsignedShortLE(); buf.readUnsignedShortLE(); buf.readByte(); buf.readUnsignedShortLE(); buf.readUnsignedShortLE(); buf.readByte(); buf.readUnsignedShortLE(); } // Four temperature sensors if (isFormat(format, F40, F52)) { position.set(Position.PREFIX_TEMP + 1, buf.readByte()); position.set(Position.PREFIX_TEMP + 2, buf.readByte()); position.set(Position.PREFIX_TEMP + 3, buf.readByte()); position.set(Position.PREFIX_TEMP + 4, buf.readByte()); } return position; } private Object processNtcbSingle(DeviceSession deviceSession, Channel channel, ByteBuf buf) { Position position = parseNtcbPosition(deviceSession, buf); ByteBuf response = Unpooled.buffer(7); response.writeCharSequence("*<T", StandardCharsets.US_ASCII); response.writeIntLE((int) position.getLong(Position.KEY_INDEX)); sendNtcbReply(channel, response); return position.getFixTime() != null ? position : null; } private Object processNtcbArray(DeviceSession deviceSession, Channel channel, ByteBuf buf) { List<Position> positions = new LinkedList<>(); int count = buf.readUnsignedByte(); for (int i = 0; i < count; i++) { Position position = parseNtcbPosition(deviceSession, buf); if (position.getFixTime() != null) { positions.add(position); } } ByteBuf response = Unpooled.buffer(7); response.writeCharSequence("*<A", StandardCharsets.US_ASCII); response.writeByte(count); sendNtcbReply(channel, response); if (positions.isEmpty()) { return null; } return positions; } private boolean checkFlexBitfield(int index) { int byteIndex = Math.floorDiv(index, 8); int bitIndex = Math.floorMod(index, 8); return BitUtil.check(flexBitField[byteIndex], 7 - bitIndex); } private Position parseFlexPosition(DeviceSession deviceSession, ByteBuf buf) { Position position = new Position(getProtocolName()); position.setDeviceId(deviceSession.getDeviceId()); int status = 0; short input = 0; short output = 0; for (int i = 0; i < flexBitFieldSize; i++) { if (!checkFlexBitfield(i)) { continue; } switch (i) { case 0: position.set(Position.KEY_INDEX, buf.readUnsignedIntLE()); break; case 1: position.set(Position.KEY_EVENT, buf.readUnsignedShortLE()); break; case 3: short armedStatus = buf.readUnsignedByte(); position.set(Position.KEY_ARMED, BitUtil.check(armedStatus, 0)); if (BitUtil.check(armedStatus, 1)) { position.set(Position.KEY_ALARM, Position.ALARM_GENERAL); } break; case 4: status = buf.readUnsignedByte(); position.set(Position.KEY_STATUS, status); break; case 5: int status2 = buf.readUnsignedByte(); position.set(Position.KEY_STATUS, (short) (BitUtil.to(status, 8) | (status2 << 8))); break; case 6: position.set(Position.KEY_RSSI, buf.readUnsignedByte()); break; case 7: int navSensorState = buf.readUnsignedByte(); position.setValid(BitUtil.check(navSensorState, 1)); position.set(Position.KEY_SATELLITES, BitUtil.from(navSensorState, 2)); break; case 8: position.setTime(new DateBuilder(new Date(buf.readUnsignedIntLE() * 1000)).getDate()); break; case 9: position.setLatitude(buf.readIntLE() / 600000.0); break; case 10: position.setLongitude(buf.readIntLE() / 600000.0); break; case 11: position.setAltitude(buf.readIntLE() * 0.1); break; case 12: position.setSpeed(UnitsConverter.knotsFromKph(buf.readFloatLE())); break; case 13: position.setCourse(buf.readUnsignedShortLE()); break; case 14: position.set(Position.KEY_ODOMETER, buf.readFloatLE() * 1000); break; case 15: position.set(Position.KEY_DISTANCE, buf.readFloatLE() * 1000); break; case 18: position.set(Position.KEY_POWER, buf.readUnsignedShortLE() * 0.001); break; case 19: position.set(Position.KEY_BATTERY, buf.readUnsignedShortLE() * 0.001); break; case 20: case 21: case 22: case 23: case 24: case 25: case 26: case 27: position.set(Position.PREFIX_ADC + (i - 19), buf.readUnsignedShortLE()); break; case 28: input = buf.readUnsignedByte(); position.set(Position.KEY_INPUT, input); for (int k = 0; k < 8; k++) { position.set(Position.PREFIX_IN + (k + 1), BitUtil.check(input, k)); } break; case 29: short input2 = buf.readUnsignedByte(); position.set(Position.KEY_INPUT, (short) (BitUtil.to(input, 8) | (input2 << 8))); for (int k = 0; k < 8; k++) { position.set(Position.PREFIX_IN + (k + 9), BitUtil.check(input2, k)); } break; case 30: output = buf.readUnsignedByte(); position.set(Position.KEY_OUTPUT, output); for (int k = 0; k < 8; k++) { position.set(Position.PREFIX_OUT + (k + 1), BitUtil.check(output, k)); } break; case 31: short output2 = buf.readUnsignedByte(); position.set(Position.KEY_OUTPUT, (short) (BitUtil.to(output, 8) | (output2 << 8))); for (int k = 0; k < 8; k++) { position.set(Position.PREFIX_OUT + (k + 9), BitUtil.check(output2, k)); } break; case 36: position.set(Position.KEY_HOURS, buf.readUnsignedIntLE() * 1000); break; case 44: case 45: case 46: case 47: case 48: case 49: case 50: case 51: position.set(Position.PREFIX_TEMP + (i - 43), buf.readByte()); break; case 68: position.set("can-speed", buf.readUnsignedByte()); break; // FLEX 2.0 case 69: int satVisible = 0; for (int k = 0; k < 8; k++) { satVisible += buf.readUnsignedByte(); } position.set(Position.KEY_SATELLITES_VISIBLE, satVisible); break; case 70: position.set(Position.KEY_HDOP, buf.readUnsignedByte() * 0.1); position.set(Position.KEY_PDOP, buf.readUnsignedByte() * 0.1); break; default: if (i < FLEX_FIELDS_SIZES.length) { buf.skipBytes(FLEX_FIELDS_SIZES[i]); } break; } } return position; } private Position parseFlex20Position(DeviceSession deviceSession, ByteBuf buf) { Position position = new Position(getProtocolName()); position.setDeviceId(deviceSession.getDeviceId()); int length = buf.readUnsignedShort(); if (length <= buf.readableBytes() && buf.readUnsignedByte() == 0x0A) { buf.readUnsignedByte(); // length of static part position.set(Position.KEY_INDEX, buf.readUnsignedIntLE()); position.set(Position.KEY_EVENT, buf.readUnsignedShortLE()); buf.readUnsignedInt(); // event time int navSensorState = buf.readUnsignedByte(); position.setValid(BitUtil.check(navSensorState, 1)); position.set(Position.KEY_SATELLITES, BitUtil.from(navSensorState, 2)); position.setTime(new DateBuilder(new Date(buf.readUnsignedIntLE() * 1000)).getDate()); position.setLatitude(buf.readIntLE() / 600000.0); position.setLongitude(buf.readIntLE() / 600000.0); position.setAltitude(buf.readIntLE() * 0.1); position.setSpeed(UnitsConverter.knotsFromKph(buf.readFloatLE())); position.setCourse(buf.readUnsignedShortLE()); position.set(Position.KEY_ODOMETER, buf.readFloatLE() * 1000); buf.skipBytes(length - buf.readerIndex() - 1); // skip unused part } return position; } private interface FlexPositionParser { Position parsePosition(DeviceSession deviceSession, ByteBuf buf); } private Object processFlexSingle( FlexPositionParser parser, String flexHeader, DeviceSession deviceSession, Channel channel, ByteBuf buf) { if (!flexHeader.equals("~C")) { buf.readUnsignedInt(); // event index } Position position = parser.parsePosition(deviceSession, buf); ByteBuf response = Unpooled.buffer(); response.writeCharSequence(flexHeader, StandardCharsets.US_ASCII); response.writeIntLE((int) position.getLong(Position.KEY_INDEX)); sendFlexReply(channel, response); return position.getFixTime() != null ? position : null; } private Object processFlexArray( FlexPositionParser parser, String flexHeader, DeviceSession deviceSession, Channel channel, ByteBuf buf) { List<Position> positions = new LinkedList<>(); int count = buf.readUnsignedByte(); for (int i = 0; i < count; i++) { Position position = parser.parsePosition(deviceSession, buf); if (position.getFixTime() != null) { positions.add(position); } } ByteBuf response = Unpooled.buffer(); response.writeCharSequence(flexHeader, StandardCharsets.US_ASCII); response.writeByte(count); sendFlexReply(channel, response); return !positions.isEmpty() ? positions : null; } private Object processFlexNegotiation(Channel channel, ByteBuf buf) { if ((byte) buf.readUnsignedByte() != (byte) 0xB0) { return null; } short flexProtocolVersion = buf.readUnsignedByte(); short flexStructVersion = buf.readUnsignedByte(); if ((flexProtocolVersion == 0x0A || flexProtocolVersion == 0x14) && (flexStructVersion == 0x0A || flexStructVersion == 0x14)) { flexBitFieldSize = buf.readUnsignedByte(); if (flexBitFieldSize > 122) { return null; } buf.readBytes(flexBitField, 0, (int) Math.ceil((double) flexBitFieldSize / 8)); flexDataSize = 0; for (int i = 0; i < flexBitFieldSize; i++) { if (checkFlexBitfield(i)) { flexDataSize += FLEX_FIELDS_SIZES[i]; } } } else { flexProtocolVersion = 0x14; flexStructVersion = 0x14; } ByteBuf response = Unpooled.buffer(9); response.writeCharSequence("*<FLEX", StandardCharsets.US_ASCII); response.writeByte(0xB0); response.writeByte(flexProtocolVersion); response.writeByte(flexStructVersion); sendNtcbReply(channel, response); return null; } private Object processHandshake(Channel channel, SocketAddress remoteAddress, ByteBuf buf) { buf.readByte(); // colon if (getDeviceSession(channel, remoteAddress, buf.toString(StandardCharsets.US_ASCII)) != null) { sendNtcbReply(channel, Unpooled.copiedBuffer("*<S", StandardCharsets.US_ASCII)); } return null; } private void sendNtcbReply(Channel channel, ByteBuf data) { if (channel != null) { ByteBuf header = Unpooled.buffer(16); header.writeCharSequence(prefix, StandardCharsets.US_ASCII); header.writeIntLE((int) deviceUniqueId); header.writeIntLE((int) serverId); header.writeShortLE(data.readableBytes()); header.writeByte(Checksum.xor(data.nioBuffer())); header.writeByte(Checksum.xor(header.nioBuffer())); channel.writeAndFlush(new NetworkMessage(Unpooled.wrappedBuffer(header, data), channel.remoteAddress())); } } private void sendFlexReply(Channel channel, ByteBuf data) { if (channel != null) { ByteBuf cs = Unpooled.buffer(1); cs.writeByte(Checksum.crc8(new Algorithm(8, 0x31, 0xFF, false, false, 0x00), data.nioBuffer())); channel.writeAndFlush(new NetworkMessage(Unpooled.wrappedBuffer(data, cs), channel.remoteAddress())); } } private Object decodeNtcb(Channel channel, SocketAddress remoteAddress, ByteBuf buf) { prefix = buf.toString(buf.readerIndex(), 4, StandardCharsets.US_ASCII); buf.skipBytes(prefix.length()); // prefix @NTC by default serverId = buf.readUnsignedIntLE(); deviceUniqueId = buf.readUnsignedIntLE(); int length = buf.readUnsignedShortLE(); buf.skipBytes(2); // header and data XOR checksum if (length == 0) { return null; // keep alive message } String type = buf.toString(buf.readerIndex(), 3, StandardCharsets.US_ASCII); buf.skipBytes(type.length()); if (type.equals("*>S")) { return processHandshake(channel, remoteAddress, buf); } else { DeviceSession deviceSession = getDeviceSession(channel, remoteAddress); if (deviceSession != null) { switch (type) { case "*>A": return processNtcbArray(deviceSession, channel, buf); case "*>T": return processNtcbSingle(deviceSession, channel, buf); case "*>F": buf.skipBytes(3); return processFlexNegotiation(channel, buf); default: break; } } } return null; } private Object decodeFlex(Channel channel, SocketAddress remoteAddress, ByteBuf buf) { if (buf.getByte(buf.readerIndex()) == 0x7F) { return null; // keep alive } String type = buf.toString(buf.readerIndex(), 2, StandardCharsets.US_ASCII); buf.skipBytes(type.length()); DeviceSession deviceSession = getDeviceSession(channel, remoteAddress); if (deviceSession != null) { switch (type) { // FLEX 1.0 case "~A": return processFlexArray(this::parseFlexPosition, type, deviceSession, channel, buf); case "~T": case "~C": return processFlexSingle(this::parseFlexPosition, type, deviceSession, channel, buf); // FLEX 2.0 (extra packages) case "~E": return processFlexArray(this::parseFlex20Position, type, deviceSession, channel, buf); case "~X": return processFlexSingle(this::parseFlex20Position, type, deviceSession, channel, buf); default: break; } } return null; } @Override protected Object decode( Channel channel, SocketAddress remoteAddress, Object msg) throws Exception { ByteBuf buf = (ByteBuf) msg; if (flexDataSize > 0) { return decodeFlex(channel, remoteAddress, buf); } else { return decodeNtcb(channel, remoteAddress, buf); } } }