Add sentences: HDG, HDM, MTW, ROT, TXT, PHTRO, PRDID, PSONCMS. Improve docs with formats and examples. Add NMEA 2.3/4.0 related field (FAA mode and Navigation status) (#87)

Author: aldas

Makefile

@@ -0,0 +1,18 @@
+.DEFAULT_GOAL := check
+check: lint vet test ## Check project
+
+lint: ## Lint the files
+	@golint -set_exit_status ./...
+
+vet: ## Vet the files
+	@go vet ./...
+
+test: ## Run tests with data race detector
+	@go test -race ./...
+
+init:
+	@go get -u golang.org/x/lint/golint@latest
+
+goversion ?= "1.17"
+test_version: ## Run tests inside Docker with given version (defaults to 1.17). Example for Go1.15: make test_version goversion=1.15
+	@docker run --rm -it -v $(shell pwd):/project golang:$(goversion) /bin/sh -c "cd /project && make test"

README.md

@@ -29,32 +29,47 @@ To update go-nmea to the latest version, use `go get -u github.com/adrianmo/go-n
 
 At this moment, this library supports the following sentence types:
 
-| Sentence type                                                                       | Description                                                         |
-| ----------------------------------------------------------------------------------- | ------------------------------------------------------------------- |
-| [RMC](http://aprs.gids.nl/nmea/#rmc)                                                | Recommended Minimum Specific GPS/Transit data                       |
-| [PMTK](https://www.rhydolabz.com/documents/25/PMTK_A11.pdf)                         | Messages for setting and reading commands for MediaTek gps modules. |
-| [GGA](http://aprs.gids.nl/nmea/#gga)                                                | GPS Positioning System Fix Data                                     |
-| [GSA](http://aprs.gids.nl/nmea/#gsa)                                                | GPS DOP and active satellites                                       |
-| [GSV](http://aprs.gids.nl/nmea/#gsv)                                                | GPS Satellites in view                                              |
-| [GLL](http://aprs.gids.nl/nmea/#gll)                                                | Geographic Position, Latitude / Longitude and time                  |
-| [VTG](http://aprs.gids.nl/nmea/#vtg)                                                | Track Made Good and Ground Speed                                    |
-| [ZDA](http://aprs.gids.nl/nmea/#zda)                                                | Date & time data                                                    |
-| [HDT](http://aprs.gids.nl/nmea/#hdt)                                                | Actual vessel heading in degrees True                               |
-| [GNS](https://www.trimble.com/oem_receiverhelp/v4.44/en/NMEA-0183messages_GNS.html) | Combined GPS fix for GPS, Glonass, Galileo, and BeiDou              |
-| [PGRME](http://aprs.gids.nl/nmea/#rme)                                              | Estimated Position Error (Garmin proprietary sentence)              |
-| [THS](http://www.nuovamarea.net/pytheas_9.html)                                     | Actual vessel heading in degrees True and status                    |
-| [VDM/VDO](http://catb.org/gpsd/AIVDM.html)                                          | Encapsulated binary payload                                         |
-| [WPL](http://aprs.gids.nl/nmea/#wpl)                                                | Waypoint location                                                   |
-| [RTE](http://aprs.gids.nl/nmea/#rte)                                                | Route                                                               |
-| [VHW](https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf)                               | Water Speed and Heading                                             |
-| [DPT](https://gpsd.gitlab.io/gpsd/NMEA.html#_dpt_depth_of_water)                    | Depth of Water                                                      |
-| [DBS](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbs_depth_below_surface)               | Depth Below Surface                                                 |
-| [DBT](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbt_depth_below_transducer)            | Depth below transducer                                              |
-| [MDA](#)                                                                            | Meteorological Composite                                            |
-| [MWD](#)                                                                            | Wind Direction and Speed                                            |
-| [MWV](#)                                                                            | Wind Speed and Angle                                                |
-
-If you need to parse a message that contains an unsupported sentence type you can implement and register your own message parser and get yourself unblocked immediately. Check the example below to know how to [implement and register a custom message parser](#custom-message-parsing). However, if you think your custom message parser could be beneficial to other users we encourage you to contribute back to the library by submitting a PR and get it included in the list of supported sentences.
+| Sentence type                                                                 | Description                                               |
+|-------------------------------------------------------------------------------|-----------------------------------------------------------|
+| [RMC](http://aprs.gids.nl/nmea/#rmc)                                          | Recommended Minimum Specific GPS/Transit data             |
+| [GGA](http://aprs.gids.nl/nmea/#gga)                                          | GPS Positioning System Fix Data                           |
+| [GSA](http://aprs.gids.nl/nmea/#gsa)                                          | GPS DOP and active satellites                             |
+| [GSV](http://aprs.gids.nl/nmea/#gsv)                                          | GPS Satellites in view                                    |
+| [GLL](http://aprs.gids.nl/nmea/#gll)                                          | Geographic Position, Latitude / Longitude and time        |
+| [VTG](http://aprs.gids.nl/nmea/#vtg)                                          | Track Made Good and Ground Speed                          |
+| [ZDA](http://aprs.gids.nl/nmea/#zda)                                          | Date & time data                                          |
+| [HDT](http://aprs.gids.nl/nmea/#hdt)                                          | Actual vessel heading in degrees True                     |
+| [HDG](https://gpsd.gitlab.io/gpsd/NMEA.html#_hdg_heading_deviation_variation) | Heading, Deviation & Variation                            |
+| [HDM](https://gpsd.gitlab.io/gpsd/NMEA.html#_hdm_heading_magnetic)            | Heading - Magnetic                                        |
+| [GNS](https://gpsd.gitlab.io/gpsd/NMEA.html#_gns_fix_data)                    | Combined GPS fix for GPS, Glonass, Galileo, and BeiDou    |
+| [VDM/VDO](https://gpsd.gitlab.io/gpsd/AIVDM.html)                             | Encapsulated binary payload (commonly used with AIS data) |
+| [WPL](http://aprs.gids.nl/nmea/#wpl)                                          | Waypoint location                                         |
+| [RTE](http://aprs.gids.nl/nmea/#rte)                                          | Route                                                     |
+| [ROT](https://gpsd.gitlab.io/gpsd/NMEA.html#_rot_rate_of_turn)                | Rate of turn                                              |
+| [VHW](https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf)                         | Water Speed and Heading                                   |
+| [DPT](https://gpsd.gitlab.io/gpsd/NMEA.html#_dpt_depth_of_water)              | Depth of Water                                            |
+| [DBS](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbs_depth_below_surface)         | Depth Below Surface                                       |
+| [DBT](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbt_depth_below_transducer)      | Depth below transducer                                    |
+| [MDA](https://gpsd.gitlab.io/gpsd/NMEA.html#_mda_meteorological_composite)    | Meteorological Composite                                  |
+| [MWD](https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf)                         | Wind Direction and Speed                                  |
+| [MWV](https://gpsd.gitlab.io/gpsd/NMEA.html#_mwv_wind_speed_and_angle)        | Wind Speed and Angle                                      |
+| [MTW](https://gpsd.gitlab.io/gpsd/NMEA.html#_mtw_mean_temperature_of_water)   | Mean Temperature of Water                                 |
+| [THS](http://www.nuovamarea.net/pytheas_9.html)                               | Actual vessel heading in degrees True and status          |
+| [TXT](https://www.nmea.org/Assets/20160520%20txt%20amendment.pdf)             | Sentence is for the transmission of text messages         |
+
+| Proprietary sentence type                                   | Description                                                                                     |
+|-------------------------------------------------------------|-------------------------------------------------------------------------------------------------|
+| [PMTK](https://www.rhydolabz.com/documents/25/PMTK_A11.pdf) | Messages for setting and reading commands for MediaTek gps modules.                             |
+| [PGRME](http://aprs.gids.nl/nmea/#rme)                      | Estimated Position Error (Garmin proprietary sentence)                                          |
+| [PSONCMS](#)                                                | Quaternion, acceleration, rate of turn, magnetic field, sensor temperature (Xsens IMU/VRU/AHRS) |
+| [PRDID](#)                                                  | Vessel pitch, roll and heading (Xsens IMU/VRU/AHRS)                                             |
+| [PHTRO](#)                                                  | Vessel pitch and roll (Xsens IMU/VRU/AHRS)                                                      |
+
+If you need to parse a message that contains an unsupported sentence type you can implement and register your own
+message parser and get yourself unblocked immediately. Check the example below to know how
+to [implement and register a custom message parser](#custom-message-parsing). However, if you think your custom message
+parser could be beneficial to other users we encourage you to contribute back to the library by submitting a PR and get
+it included in the list of supported sentences.
 
 ## Examples
 
@@ -147,8 +162,8 @@ TAG Block source:    Satelite_1
 
 ### Custom message parsing
 
-If you need to parse a message not supported by the library you can implement your own message parsing.
-The following example implements a parser for the hypothetical XYZ NMEA sentence type.
+If you need to parse a message not supported by the library you can implement your own message parsing. The following
+example implements a parser for the hypothetical XYZ NMEA sentence type.
 
 ```go
 package main
@@ -220,7 +235,8 @@ Value: 5133.820000
 
 ## Contributing
 
-Please feel free to submit issues or fork the repository and send pull requests to update the library and fix bugs, implement support for new sentence types, refactor code, etc.
+Please feel free to submit issues or fork the repository and send pull requests to update the library and fix bugs,
+implement support for new sentence types, refactor code, etc.
 
 ## License
 

dbs.go

@@ -7,6 +7,9 @@ const (
 
 // DBS - Depth Below Surface
 // https://gpsd.gitlab.io/gpsd/NMEA.html#_dbs_depth_below_surface
+//
+// Format: $--DBS,x.x,f,x.x,M,x.x,F*hh<CR><LF>
+// Example: $23DBS,01.9,f,0.58,M,00.3,F*21
 type DBS struct {
 	BaseSentence
 	DepthFeet    float64

dbs_test.go

@@ -16,9 +16,18 @@ var dbstests = []struct {
 		name: "good sentence",
 		raw:  "$23DBS,01.9,f,0.58,M,00.3,F*21",
 		msg: DBS{
-			DepthFeet:    MustParseDecimal("1.9"),
-			DepthMeters:  MustParseDecimal("0.58"),
-			DepthFathoms: MustParseDecimal("0.3"),
+			DepthFeet:    1.9,
+			DepthMeters:  0.58,
+			DepthFathoms: 0.3,
+		},
+	},
+	{
+		name: "good sentence 2",
+		raw:  "$SDDBS,,,0187.5,M,,*1A", // Simrad ITI Trawl System
+		msg: DBS{
+			DepthFeet:    0,
+			DepthMeters:  187.5,
+			DepthFathoms: 0,
 		},
 	},
 	{

dbt.go

@@ -7,6 +7,9 @@ const (
 
 // DBT - Depth below transducer
 // https://gpsd.gitlab.io/gpsd/NMEA.html#_dbt_depth_below_transducer
+//
+// Format: $--DBT,x.x,f,x.x,M,x.x,F*hh<CR><LF>
+// Example: $IIDBT,032.93,f,010.04,M,005.42,F*2C
 type DBT struct {
 	BaseSentence
 	DepthFeet    float64

dbt_test.go

@@ -16,9 +16,9 @@ var dbttests = []struct {
 		name: "good sentence",
 		raw:  "$IIDBT,032.93,f,010.04,M,005.42,F*2C",
 		msg: DBT{
-			DepthFeet:    MustParseDecimal("32.93"),
-			DepthMeters:  MustParseDecimal("10.04"),
-			DepthFathoms: MustParseDecimal("5.42"),
+			DepthFeet:    32.93,
+			DepthMeters:  10.04,
+			DepthFathoms: 5.42,
 		},
 	},
 	{

deprecated_test.go

@@ -247,12 +247,14 @@ var gnrmctests = []struct {
 		msg: GNRMC{
 			Time:      Time{true, 22, 05, 16, 0},
 			Validity:  "A",
+			Latitude:  MustParseGPS("5133.82 N"),
+			Longitude: MustParseGPS("00042.24 W"),
 			Speed:     173.8,
 			Course:    231.8,
 			Date:      Date{true, 13, 06, 94},
 			Variation: -4.2,
-			Latitude:  MustParseGPS("5133.82 N"),
-			Longitude: MustParseGPS("00042.24 W"),
+			FFAMode:   "",
+			NavStatus: "",
 		},
 	},
 	{
@@ -261,12 +263,14 @@ var gnrmctests = []struct {
 		msg: GNRMC{
 			Time:      Time{true, 14, 27, 54, 0},
 			Validity:  "A",
+			Latitude:  MustParseGPS("4302.539570 N"),
+			Longitude: MustParseGPS("07920.379823 W"),
 			Speed:     0,
 			Course:    0,
 			Date:      Date{true, 7, 6, 17},
 			Variation: 0,
-			Latitude:  MustParseGPS("4302.539570 N"),
-			Longitude: MustParseGPS("07920.379823 W"),
+			FFAMode:   FAAModeAutonomous,
+			NavStatus: "",
 		},
 	},
 	{
@@ -275,12 +279,14 @@ var gnrmctests = []struct {
 		msg: GNRMC{
 			Time:      Time{true, 10, 5, 38, 0},
 			Validity:  "A",
+			Latitude:  MustParseGPS("5546.27711 N"),
+			Longitude: MustParseGPS("03736.91144 E"),
 			Speed:     0.061,
 			Course:    0,
 			Date:      Date{true, 26, 3, 18},
 			Variation: 0,
-			Latitude:  MustParseGPS("5546.27711 N"),
-			Longitude: MustParseGPS("03736.91144 E"),
+			FFAMode:   FAAModeAutonomous,
+			NavStatus: "",
 		},
 	},
 	{
@@ -383,6 +389,7 @@ var gpglltests = []struct {
 				Millisecond: 0,
 			},
 			Validity: "A",
+			FFAMode:  FAAModeAutonomous,
 		},
 	},
 	{
@@ -600,12 +607,14 @@ var gprmctests = []struct {
 		msg: GPRMC{
 			Time:      Time{true, 22, 5, 16, 0},
 			Validity:  "A",
+			Latitude:  MustParseGPS("5133.82 N"),
+			Longitude: MustParseGPS("00042.24 W"),
 			Speed:     173.8,
 			Course:    231.8,
 			Date:      Date{true, 13, 6, 94},
 			Variation: -4.2,
-			Latitude:  MustParseGPS("5133.82 N"),
-			Longitude: MustParseGPS("00042.24 W"),
+			FFAMode:   "",
+			NavStatus: "",
 		},
 	},
 	{
@@ -614,12 +623,14 @@ var gprmctests = []struct {
 		msg: GPRMC{
 			Time:      Time{true, 14, 27, 54, 0},
 			Validity:  "A",
+			Latitude:  MustParseGPS("4302.539570 N"),
+			Longitude: MustParseGPS("07920.379823 W"),
 			Speed:     0,
 			Course:    0,
 			Date:      Date{true, 7, 6, 17},
 			Variation: 0,
-			Latitude:  MustParseGPS("4302.539570 N"),
-			Longitude: MustParseGPS("07920.379823 W"),
+			FFAMode:   FAAModeAutonomous,
+			NavStatus: "",
 		},
 	},
 	{

dpt.go

@@ -7,11 +7,15 @@ const (
 
 // DPT - Depth of Water
 // https://gpsd.gitlab.io/gpsd/NMEA.html#_dpt_depth_of_water
+//
+// Format: $--DPT,x.x,x.x,x.x*hh<CR><LF>
+// Example: $SDDPT,0.5,0.5,*7B
+//          $INDPT,2.3,0.0*46
 type DPT struct {
 	BaseSentence
-	Depth      float64
-	Offset     float64
-	RangeScale float64
+	Depth      float64 // Water depth relative to transducer, meters
+	Offset     float64 // offset from transducer
+	RangeScale float64 // OPTIONAL, Maximum range scale in use (NMEA 3.0 and above)
 }
 
 // newDPT constructor

dpt_test.go

@@ -16,27 +16,27 @@ var dpttests = []struct {
 		name: "good sentence",
 		raw:  "$SDDPT,0.5,0.5,*7B",
 		msg: DPT{
-			Depth:      MustParseDecimal("0.5"),
-			Offset:     MustParseDecimal("0.5"),
-			RangeScale: MustParseDecimal("0"),
+			Depth:      0.5,
+			Offset:     0.5,
+			RangeScale: 0,
 		},
 	},
 	{
 		name: "good sentence with scale",
 		raw:  "$SDDPT,0.5,0.5,0.1*54",
 		msg: DPT{
-			Depth:      MustParseDecimal("0.5"),
-			Offset:     MustParseDecimal("0.5"),
-			RangeScale: MustParseDecimal("0.1"),
+			Depth:      0.5,
+			Offset:     0.5,
+			RangeScale: 0.1,
 		},
 	},
 	{
 		name: "good sentence with 2 fields",
 		raw:  "$INDPT,2.3,0.0*46",
 		msg: DPT{
-			Depth:      MustParseDecimal("2.3"),
-			Offset:     MustParseDecimal("0.0"),
-			RangeScale: MustParseDecimal("0"),
+			Depth:      2.3,
+			Offset:     0,
+			RangeScale: 0,
 		},
 	},
 	{

gga.go

@@ -20,6 +20,11 @@ const (
 )
 
 // GGA is the Time, position, and fix related data of the receiver.
+// http://aprs.gids.nl/nmea/#gga
+// https://gpsd.gitlab.io/gpsd/NMEA.html#_gga_global_positioning_system_fix_data
+//
+// Format: $--GGA,hhmmss.ss,ddmm.mm,a,ddmm.mm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF>
+// Example: $GNGGA,203415.000,6325.6138,N,01021.4290,E,1,8,2.42,72.5,M,41.5,M,,*7C
 type GGA struct {
 	BaseSentence
 	Time          Time    // Time of fix.

gll.go

@@ -11,23 +11,34 @@ const (
 
 // GLL is Geographic Position, Latitude / Longitude and time.
 // http://aprs.gids.nl/nmea/#gll
+// https://gpsd.gitlab.io/gpsd/NMEA.html#_gll_geographic_position_latitudelongitude
+//
+// Format            : $--GLL,ddmm.mm,a,dddmm.mm,a,hhmmss.ss,a*hh<CR><LF>
+// Format (NMEA 2.3+): $--GLL,ddmm.mm,a,dddmm.mm,a,hhmmss.ss,a,m*hh<CR><LF>
+// Example: $IIGLL,5924.462,N,01030.048,E,062216,A*38
+// Example: $GNGLL,4404.14012,N,12118.85993,W,001037.00,A,A*67
 type GLL struct {
 	BaseSentence
 	Latitude  float64 // Latitude
 	Longitude float64 // Longitude
 	Time      Time    // Time Stamp
-	Validity  string  // validity - A-valid
+	Validity  string  // validity - A=valid, V=invalid
+	FFAMode   string  // FAA mode indicator (filled in NMEA 2.3 and later)
 }
 
 // newGLL constructor
 func newGLL(s BaseSentence) (GLL, error) {
 	p := NewParser(s)
 	p.AssertType(TypeGLL)
-	return GLL{
+	gll := GLL{
 		BaseSentence: s,
 		Latitude:     p.LatLong(0, 1, "latitude"),
 		Longitude:    p.LatLong(2, 3, "longitude"),
 		Time:         p.Time(4, "time"),
 		Validity:     p.EnumString(5, "validity", ValidGLL, InvalidGLL),
-	}, p.Err()
+	}
+	if len(p.Fields) > 6 {
+		gll.FFAMode = p.String(6, "FAA mode")
+	}
+	return gll, p.Err()
 }

gll_test.go

@@ -26,6 +26,24 @@ var glltests = []struct {
 				Millisecond: 0,
 			},
 			Validity: "A",
+			FFAMode:  FAAModeAutonomous,
+		},
+	},
+	{
+		name: "good sentence without FAA mode",
+		raw:  "$IIGLL,5924.462,N,01030.048,E,062216,A*38",
+		msg: GLL{
+			Latitude:  MustParseLatLong("5924.462 N"),
+			Longitude: MustParseLatLong("01030.048 E"),
+			Time: Time{
+				Valid:       true,
+				Hour:        6,
+				Minute:      22,
+				Second:      16,
+				Millisecond: 0,
+			},
+			Validity: "A",
+			FFAMode:  "",
 		},
 	},
 	{