--[[
	2021-08-12
		* Fix Sattelites

]]



egoV5 = Proto("egoV5","Ego V5 Protocol")

-- create a function to dissect it
function egoV5.dissector(buffer,pinfo,tree)

	-- check the ports
	if(pinfo.dst_port ~= 1025 or buffer:len() < 108 ) then
		return 0 
	end

	pinfo.cols.protocol = "egoV5"
	local tree = tree:add(egoV5,buffer(),"Ego V5 Data")
	local headerTree = tree:add(buffer(0,7),"Header")
	local DataTree = tree:add(buffer(8,100),"Data")
		LongitudeInt = buffer(8,4):le_int()
		LongitudeFract = buffer(12,4):le_float()
		local LongTree = DataTree:add(buffer(8,8),string.format("Longitude: %f[deg]",(LongitudeInt + LongitudeFract)/1000))
			LongTree:add(buffer(8,4),string.format("LongitudeInt: %d",LongitudeInt))
			LongTree:add(buffer(12,4),string.format("LongitudeFract: %f",LongitudeFract))
		---
		LatitudeInt = buffer(16,4):le_int()
		LatitudeFract = buffer(20,4):le_float()
		local LatTree = DataTree:add(buffer(16,8),string.format("Latitude: %f [deg]",(LatitudeInt + LatitudeFract)/1000))
			LatTree:add(buffer(16,4),string.format("LatitudeInt: %d",LatitudeInt))
			LatTree:add(buffer(20,4),string.format("LatitudeFract: %f",LatitudeFract))
		---
		DataTree:add(buffer(24,4),string.format("Height: %f [m]",buffer(24,4):le_float()))
		---
		DataTree:add(buffer(28,4),string.format("Velocity North: %f [m/s]",buffer(28,4):le_float()))
		---
		DataTree:add(buffer(32,4),string.format("Velocity East: %f [m/s]",buffer(32,4):le_float()))
		---
		DataTree:add(buffer(36,4),string.format("Velocity Z: %f [m/s]",buffer(36,4):le_float()))
		---
		DataTree:add(buffer(40,4),string.format("Acc Horizontal X: %f [m/s^2]",buffer(40,4):le_float()))
		---
		DataTree:add(buffer(44,4),string.format("Acc Horizontal Y: %f [m/s^2]",buffer(44,4):le_float()))
		---
		DataTree:add(buffer(48,4),string.format("Acc Horizontal Z: %f [m/s^2]",buffer(48,4):le_float()))
		---
		DataTree:add(buffer(52,4),string.format("Roll: %f [deg]",buffer(52,4):le_float()))
		---
		DataTree:add(buffer(56,4),string.format("Pitch: %f [deg]",buffer(56,4):le_float()))
		---
		DataTree:add(buffer(60,4),string.format("Yaw: %f [deg]",buffer(60,4):le_float()))
		---
		DataTree:add(buffer(64,4),string.format("Roll Velocity: %f [deg/s]",buffer(64,4):le_float()))
		---
		DataTree:add(buffer(68,4),string.format("Pitch Velocity: %f [deg/s]",buffer(68,4):le_float()))
		---
		DataTree:add(buffer(72,4),string.format("Yaw Velocity: %f [deg/s]",buffer(72,4):le_float()))
		---
		DataTree:add(buffer(76,4),string.format("Tracking Angle: %f [deg]",buffer(76,4):le_float()))
		---
		DataTree:add(buffer(80,4),string.format("Slip Angle: %f [deg]",buffer(80,4):le_float()))
		---
		DataTree:add(buffer(84,4),string.format("Slip Angle Offset: %f [deg]",buffer(84,4):le_float()))
		---
		DataTree:add(buffer(88,4),string.format("Slip Angle Error: %f [deg]",buffer(88,4):le_float()))
		---
		DataTree:add(buffer(92,4),string.format("Acc Yaw: %f [deg/s^2]",buffer(92,4):le_float()))
		---
		DataTree:add(buffer(96,4),string.format("GPS Time : %d [ms]",buffer(96,4):le_uint()))
		---
		sat = bit.rshift(buffer(100,1):le_uint() and 0xf0,4 )
		DataTree:add(buffer(100,1),string.format("Satellites Used: %d []",sat))
		---
		status = buffer(102,1):le_uint()
		status_def = {
			[0]='ERROR',
			[1]='Gyro not initialized',
			[2]='Waiting for Initialisation (not exceeded threshold speed for heading)',
			[3]='Not real time mode',
			[5]='accuracy worse than 10m',
			[6]='accuracy 2m to 10m',
			[7]='accuracy 0.5m to 2m',
			[8]='accuracy 0.1m to 0.5m',
			[9]='accuracy better than 0.1m',
		}
		if status_def[status] ~= nil then
			status_str = status_def[status]
		else
			status_str = ''
		end
		DataTree:add(buffer(102,1),string.format("GPS Status: %d (%s) ",status,status_str))
		---
		diffAge= buffer(104,1):le_uint()
		DataTree:add(buffer(104,1),string.format("Diff Age: %d  ",buffer(104,1):le_uint()))
		---

		--tree:add_expert_info(PI_DEBUG,PI_WARN,"Low Gps Accuracy")
		pinfo.cols.info = string.format("Status=%s, DiffAge=%d, Satellites=%d",status_str,diffAge,sat)
end

udp_table = DissectorTable.get("udp.port")
udp_table:add(1025,egoV5)