ENCODING!! and lots of organization

decoders/data/data-tracker-field-chunk.js

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+const Parser = require('binary-parser').Parser;
+
+module.exports = new Parser()
+  .uint16le('id')
+  .uint16le('data_len', {
+    formatter: (item) => {
+      const binary = item.toString(2).padStart(16, '0');
+      return Number.parseInt(binary.substring(1), 2);
+    },
+  })
+  .seek(-2)
+  .uint16le('has_subchunks', {
+    formatter: (item) => {
+      const binary = item.toString(2).padStart(16, '0');
+      return binary.charAt(0) === '1';
+    },
+  })
+  .choice('data', {
+    tag: 'id',
+    choices: {
+      0x0000: new Parser().floatle('pos_x').floatle('pos_y').floatle('pos_z'),
+      0x0001: new Parser().floatle('speed_x').floatle('speed_y').floatle('speed_z'),
+      0x0002: new Parser().floatle('ori_x').floatle('ori_y').floatle('ori_z'),
+      0x0003: new Parser().floatle('validity'),
+      0x0004: new Parser().floatle('accel_x').floatle('accel_y').floatle('accel_z'),
+      0x0005: new Parser().floatle('trgtpos_x').floatle('trgtpos_y').floatle('trgtpos_z'),
+      0x0006: new Parser().uint64le('tracker_timestamp'),
+    },
+  });

decoders/data/data-tracker-list-chunk.js

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+const Parser = require('binary-parser').Parser;
+
+const dataTrackerParser = new Parser()
+  .uint16le('id')
+  .uint16le('data_len', {
+    formatter: (item) => {
+      const binary = item.toString(2).padStart(16, '0');
+      return Number.parseInt(binary.substring(1), 2);
+    },
+  })
+  .seek(-2)
+  .uint16le('has_subchunks', {
+    formatter: (item) => {
+      const binary = item.toString(2).padStart(16, '0');
+      return binary.charAt(0) === '1';
+    },
+  })
+  .buffer('data', {
+    length: 'data_len',
+  });
+
+module.exports = new Parser().array('trackers', { type: dataTrackerParser, readUntil: 'eof' });

decoders/data/index.js

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+const TrackerListChunk = require('./data-tracker-list-chunk');
+const TrackerFieldChunk = require('./data-tracker-field-chunk');
+
+module.exports = {
+  TrackerFieldChunk,
+  TrackerListChunk,
+};