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Add DTM, OSD, RSD, TLL, TTM, VBW sentences (#93)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| package nmea | ||
|
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| const ( | ||
| // TypeDTM type of DTM sentence for Datum Reference | ||
| TypeDTM = "DTM" | ||
| ) | ||
|
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| // DTM - Datum Reference | ||
| // https://gpsd.gitlab.io/gpsd/NMEA.html#_dtm_datum_reference | ||
| // | ||
| // Format: $--DTM,ref,x,llll,c,llll,c,aaa,ref*hh<CR><LF> | ||
| // Example: $GPDTM,W84,,0.0,N,0.0,E,0.0,W84*6F | ||
| // Example: $GPDTM,W84,,00.0000,N,00.0000,W,,W84*53 | ||
| type DTM struct { | ||
| BaseSentence | ||
| LocalDatumCode string // Local datum code (W84,W72,S85,P90,999) | ||
| LocalDatumSubcode string // Local datum subcode. May be blank. | ||
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| LatitudeOffsetMinute float64 // Latitude offset (minutes) (negative if south) | ||
| LongitudeOffsetMinute float64 // Longitude offset (minutes) (negative if west) | ||
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| AltitudeOffsetMeters float64 // Altitude offset in meters | ||
| DatumName string // Reference datum name. What’s usually seen here is "W84", the standard WGS84 datum used by GPS. | ||
| } | ||
|
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| // newDTM constructor | ||
| func newDTM(s BaseSentence) (DTM, error) { | ||
| p := NewParser(s) | ||
| p.AssertType(TypeDTM) | ||
| m := DTM{ | ||
| BaseSentence: s, | ||
| LocalDatumCode: p.String(0, "local datum code"), | ||
| LocalDatumSubcode: p.String(1, "local datum subcode"), | ||
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| LatitudeOffsetMinute: p.Float64(2, "latitude offset minutes"), | ||
| LongitudeOffsetMinute: p.Float64(4, "longitude offset minutes"), | ||
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| AltitudeOffsetMeters: p.Float64(6, "altitude offset offset"), | ||
| DatumName: p.String(7, "datum name"), | ||
| } | ||
| if p.String(3, "latitude offset direction") == South { | ||
| m.LatitudeOffsetMinute *= -1 | ||
| } | ||
| if p.String(5, "longitude offset direction") == West { | ||
| m.LongitudeOffsetMinute *= -1 | ||
| } | ||
| return m, p.Err() | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| package nmea | ||
|
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| import ( | ||
| "github.com/stretchr/testify/assert" | ||
| "testing" | ||
| ) | ||
|
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| func TestDTM(t *testing.T) { | ||
| var tests = []struct { | ||
| name string | ||
| raw string | ||
| err string | ||
| msg DTM | ||
| }{ | ||
| { | ||
| name: "good sentence 1", | ||
| raw: "$GPDTM,W84,,0.0,N,0.0,E,0.0,W84*6F", | ||
| msg: DTM{ | ||
| BaseSentence: BaseSentence{}, | ||
| LocalDatumCode: "W84", | ||
| LocalDatumSubcode: "", | ||
| LatitudeOffsetMinute: 0, | ||
| LongitudeOffsetMinute: 0, | ||
| AltitudeOffsetMeters: 0, | ||
| DatumName: "W84", | ||
| }, | ||
| }, | ||
| { | ||
| name: "good sentence 2", | ||
| raw: "$GPDTM,W84,X,00.1200,S,12.0000,W,100,W84*27", | ||
| msg: DTM{ | ||
| BaseSentence: BaseSentence{}, | ||
| LocalDatumCode: "W84", | ||
| LocalDatumSubcode: "X", | ||
| LatitudeOffsetMinute: -0.12, | ||
| LongitudeOffsetMinute: -12, | ||
| AltitudeOffsetMeters: 100, | ||
| DatumName: "W84", | ||
| }, | ||
| }, | ||
| { | ||
| name: "invalid nmea: LatitudeOffsetMinute", | ||
| raw: "$GPDTM,W84,,x,N,0.0,E,0.0,W84*39", | ||
| err: "nmea: GPDTM invalid latitude offset minutes: x", | ||
| }, | ||
| { | ||
| name: "invalid nmea: LongitudeOffsetMinute", | ||
| raw: "$GPDTM,W84,,0.0,N,x,E,0.0,W84*39", | ||
| err: "nmea: GPDTM invalid longitude offset minutes: x", | ||
| }, | ||
| { | ||
| name: "invalid nmea: AltitudeOffsetMeters", | ||
| raw: "$GPDTM,W84,,0.0,N,0.0,E,x,W84*39", | ||
| err: "nmea: GPDTM invalid altitude offset offset: x", | ||
| }, | ||
| } | ||
| for _, tt := range tests { | ||
| t.Run(tt.name, func(t *testing.T) { | ||
| m, err := Parse(tt.raw) | ||
| if tt.err != "" { | ||
| assert.Error(t, err) | ||
| assert.EqualError(t, err, tt.err) | ||
| } else { | ||
| assert.NoError(t, err) | ||
| mm := m.(DTM) | ||
| mm.BaseSentence = BaseSentence{} | ||
| assert.Equal(t, tt.msg, mm) | ||
| } | ||
| }) | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,103 @@ | ||
| package nmea | ||
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| const ( | ||
| // TypeOSD type for OSD sentence for Own Ship Data | ||
| TypeOSD = "OSD" | ||
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| // OSDReferenceBottomTrackingLog is reference for bottom tracking log | ||
| OSDReferenceBottomTrackingLog = "B" | ||
| // OSDReferenceManual is reference for manually entered | ||
| OSDReferenceManual = "M" | ||
| // OSDReferenceWaterReferenced is reference for water referenced | ||
| OSDReferenceWaterReferenced = "W" | ||
| // OSDReferenceRadarTracking is reference for radar tracking of fixed target | ||
| OSDReferenceRadarTracking = "R" | ||
| // OSDReferencePositioningSystemGroundReference is reference for positioning system ground reference | ||
| OSDReferencePositioningSystemGroundReference = "P" | ||
| ) | ||
|
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| // OSD - Own Ship Data | ||
| // https://gpsd.gitlab.io/gpsd/NMEA.html#_osd_own_ship_data | ||
| // https://github.com/nohal/OpenCPN/wiki/ARPA-targets-tracking-implementation#osd---own-ship-data | ||
| // | ||
| // Format: $--OSD,x.x,A,x.x,a,x.x,a,x.x,x.x,a*hh<CR><LF> | ||
| // Example: $RAOSD,179.0,A,179.0,M,00.0,M,,,N*76 | ||
| type OSD struct { | ||
| BaseSentence | ||
| // Heading is Heading in degrees | ||
| Heading float64 | ||
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| // HeadingStatus is Heading status | ||
| // * A - data valid | ||
| // * V - data invalid | ||
| HeadingStatus string | ||
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| // VesselTrueCourse is Vessel Course, degrees True | ||
| VesselTrueCourse float64 | ||
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| // CourseReference is Course Reference, B/M/W/R/P | ||
| // * B - bottom tracking log | ||
| // * M - manually entered | ||
| // * W - water referenced | ||
| // * R - radar tracking of fixed target | ||
| // * P - positioning system ground reference | ||
| CourseReference string | ||
|
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| // VesselSpeed is Vessel Speed | ||
| VesselSpeed float64 | ||
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| // SpeedReference is Speed Reference, B/M/W/R/P | ||
| // * B - bottom tracking log | ||
| // * M - manually entered | ||
| // * W - water referenced | ||
| // * R - radar tracking of fixed target | ||
| // * P - positioning system ground reference. | ||
| SpeedReference string | ||
|
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| // VesselSetTrue is Vessel Set, degrees True - Manually entered | ||
| VesselSetTrue float64 | ||
|
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| // VesselDrift is Vessel drift (speed) - Manually entered | ||
| VesselDrift float64 | ||
|
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| // SpeedUnits is Speed Units | ||
| // * K - km/h | ||
| // * N - Knots | ||
| // * S - statute miles/h | ||
| SpeedUnits string | ||
| } | ||
|
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| // newOSD constructor | ||
| func newOSD(s BaseSentence) (OSD, error) { | ||
| p := NewParser(s) | ||
| p.AssertType(TypeOSD) | ||
| m := OSD{ | ||
| BaseSentence: s, | ||
| Heading: p.Float64(0, "heading"), | ||
| HeadingStatus: p.EnumString(1, "heading status", StatusValid, StatusInvalid), | ||
| VesselTrueCourse: p.Float64(2, "vessel course true"), | ||
| CourseReference: p.EnumString( | ||
| 3, | ||
| "course reference", | ||
| OSDReferenceBottomTrackingLog, | ||
| OSDReferenceManual, | ||
| OSDReferenceWaterReferenced, | ||
| OSDReferenceRadarTracking, | ||
| OSDReferencePositioningSystemGroundReference, | ||
| ), | ||
| VesselSpeed: p.Float64(4, "vessel speed"), | ||
| SpeedReference: p.EnumString( | ||
| 5, | ||
| "speed reference", | ||
| OSDReferenceBottomTrackingLog, | ||
| OSDReferenceManual, | ||
| OSDReferenceWaterReferenced, | ||
| OSDReferenceRadarTracking, | ||
| OSDReferencePositioningSystemGroundReference, | ||
| ), | ||
| VesselSetTrue: p.Float64(6, "vessel set"), | ||
| VesselDrift: p.Float64(7, "vessel drift"), | ||
| SpeedUnits: p.EnumString(8, "speed units", DistanceUnitKilometre, DistanceUnitNauticalMile, DistanceUnitStatuteMile), | ||
| } | ||
| return m, p.Err() | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| package nmea | ||
|
|
||
| import ( | ||
| "github.com/stretchr/testify/assert" | ||
| "testing" | ||
| ) | ||
|
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| func TestOSD(t *testing.T) { | ||
| var tests = []struct { | ||
| name string | ||
| raw string | ||
| err string | ||
| msg OSD | ||
| }{ | ||
| { | ||
| name: "good sentence", | ||
| raw: "$RAOSD,179.0,A,179.0,M,00.0,M,,,N*76", | ||
| msg: OSD{ | ||
| BaseSentence: BaseSentence{}, | ||
| Heading: 179, | ||
| HeadingStatus: "A", | ||
| VesselTrueCourse: 179, | ||
| CourseReference: "M", | ||
| VesselSpeed: 0, | ||
| SpeedReference: "M", | ||
| VesselSetTrue: 0, | ||
| VesselDrift: 0, | ||
| SpeedUnits: "N", | ||
| }, | ||
| }, | ||
| { | ||
| name: "invalid nmea: Heading", | ||
| raw: "$RAOSD,x179.0,A,179.0,M,00.0,M,,,N*0e", | ||
| err: "nmea: RAOSD invalid heading: x179.0", | ||
| }, | ||
| { | ||
| name: "invalid nmea: HeadingStatus", | ||
| raw: "$RAOSD,179.0,xA,179.0,M,00.0,M,,,N*0e", | ||
| err: "nmea: RAOSD invalid heading status: xA", | ||
| }, | ||
| { | ||
| name: "invalid nmea: VesselTrueCourse", | ||
| raw: "$RAOSD,179.0,A,x179.0,M,00.0,M,,,N*0e", | ||
| err: "nmea: RAOSD invalid vessel course true: x179.0", | ||
| }, | ||
| { | ||
| name: "invalid nmea: CourseReference", | ||
| raw: "$RAOSD,179.0,A,179.0,xM,00.0,M,,,N*0e", | ||
| err: "nmea: RAOSD invalid course reference: xM", | ||
| }, | ||
| { | ||
| name: "invalid nmea: VesselSpeed", | ||
| raw: "$RAOSD,179.0,A,179.0,M,x00.0,M,,,N*0e", | ||
| err: "nmea: RAOSD invalid vessel speed: x00.0", | ||
| }, | ||
| { | ||
| name: "invalid nmea: SpeedReference", | ||
| raw: "$RAOSD,179.0,A,179.0,M,00.0,xM,,,N*0e", | ||
| err: "nmea: RAOSD invalid speed reference: xM", | ||
| }, | ||
| { | ||
| name: "invalid nmea: VesselSetTrue", | ||
| raw: "$RAOSD,179.0,A,179.0,M,00.0,M,x,,N*0e", | ||
| err: "nmea: RAOSD invalid vessel set: x", | ||
| }, | ||
| { | ||
| name: "invalid nmea: VesselDrift", | ||
| raw: "$RAOSD,179.0,A,179.0,M,00.0,M,,x,N*0e", | ||
| err: "nmea: RAOSD invalid vessel drift: x", | ||
| }, | ||
| { | ||
| name: "invalid nmea: SpeedUnits", | ||
| raw: "$RAOSD,179.0,A,179.0,M,00.0,M,,,xN*0e", | ||
| err: "nmea: RAOSD invalid speed units: xN", | ||
| }, | ||
| } | ||
| for _, tt := range tests { | ||
| t.Run(tt.name, func(t *testing.T) { | ||
| m, err := Parse(tt.raw) | ||
| if tt.err != "" { | ||
| assert.Error(t, err) | ||
| assert.EqualError(t, err, tt.err) | ||
| } else { | ||
| assert.NoError(t, err) | ||
| mm := m.(OSD) | ||
| mm.BaseSentence = BaseSentence{} | ||
| assert.Equal(t, tt.msg, mm) | ||
| } | ||
| }) | ||
| } | ||
| } |
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