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Add DTM, OSD, RSD, TLL, TTM, VBW sentences (#93)
1 parent e6fa0a7 commit d882190

15 files changed

+1016
-4
lines changed

‎README.md

+6
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@@ -46,6 +46,7 @@ At this moment, this library supports the following sentence types:
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| [DPT](https://gpsd.gitlab.io/gpsd/NMEA.html#_dpt_depth_of_water) | Depth of Water |
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| [DSC](./dsc.go) | Digital Selective Calling Information |
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| [DSE](./dse.go) | Expanded digital selective calling |
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| [DTM](https://gpsd.gitlab.io/gpsd/NMEA.html#_dtm_datum_reference) | Datum Reference |
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| [EVE](./eve.go) | General Event Message |
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| [FIR](./fir.go) | Fire Detection event with time and location |
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| [GGA](http://aprs.gids.nl/nmea/#gga) | GPS Positioning System Fix Data |
@@ -62,14 +63,19 @@ At this moment, this library supports the following sentence types:
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| [MTW](https://gpsd.gitlab.io/gpsd/NMEA.html#_mtw_mean_temperature_of_water) | Mean Temperature of Water |
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| [MWD](https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf) | Wind Direction and Speed |
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| [MWV](https://gpsd.gitlab.io/gpsd/NMEA.html#_mwv_wind_speed_and_angle) | Wind Speed and Angle |
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| [OSD](https://gpsd.gitlab.io/gpsd/NMEA.html#_osd_own_ship_data) | Own Ship Data |
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| [RMB](https://gpsd.gitlab.io/gpsd/NMEA.html#_rmb_recommended_minimum_navigation_information) | Recommended Minimum Navigation Information |
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| [RMC](http://aprs.gids.nl/nmea/#rmc) | Recommended Minimum Specific GPS/Transit data |
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| [ROT](https://gpsd.gitlab.io/gpsd/NMEA.html#_rot_rate_of_turn) | Rate of turn |
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| [RPM](https://gpsd.gitlab.io/gpsd/NMEA.html#_rpm_revolutions) | Engine or Shaft revolutions and pitch |
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| [RSA](https://gpsd.gitlab.io/gpsd/NMEA.html#_rsa_rudder_sensor_angle) | Rudder Sensor Angle |
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| [RSD](https://gpsd.gitlab.io/gpsd/NMEA.html#_rsd_radar_system_data) | RADAR System Data |
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| [RTE](http://aprs.gids.nl/nmea/#rte) | Route |
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| [THS](http://www.nuovamarea.net/pytheas_9.html) | Actual vessel heading in degrees True and status |
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| [TLL](https://gpsd.gitlab.io/gpsd/NMEA.html#_tll_target_latitude_and_longitude) | Target latitude and longitude |
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| [TTM](https://gpsd.gitlab.io/gpsd/NMEA.html#_ttm_tracked_target_message) | Tracked Target Message |
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| [TXT](https://www.nmea.org/Assets/20160520%20txt%20amendment.pdf) | Sentence is for the transmission of text messages |
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| [VBW](https://gpsd.gitlab.io/gpsd/NMEA.html#_vbw_dual_groundwater_speed) | Dual Ground/Water Speed |
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| [VDM/VDO](https://gpsd.gitlab.io/gpsd/AIVDM.html) | Encapsulated binary payload (commonly used with AIS data) |
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| [VDR](https://gpsd.gitlab.io/gpsd/NMEA.html#_vdr_set_and_drift) | Set and Drift |
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| [VHW](https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf) | Water Speed and Heading |

‎dtm.go

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package nmea
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const (
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// TypeDTM type of DTM sentence for Datum Reference
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TypeDTM = "DTM"
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)
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// DTM - Datum Reference
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// https://gpsd.gitlab.io/gpsd/NMEA.html#_dtm_datum_reference
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//
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// Format: $--DTM,ref,x,llll,c,llll,c,aaa,ref*hh<CR><LF>
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// Example: $GPDTM,W84,,0.0,N,0.0,E,0.0,W84*6F
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// Example: $GPDTM,W84,,00.0000,N,00.0000,W,,W84*53
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type DTM struct {
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BaseSentence
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LocalDatumCode string // Local datum code (W84,W72,S85,P90,999)
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LocalDatumSubcode string // Local datum subcode. May be blank.
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LatitudeOffsetMinute float64 // Latitude offset (minutes) (negative if south)
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LongitudeOffsetMinute float64 // Longitude offset (minutes) (negative if west)
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AltitudeOffsetMeters float64 // Altitude offset in meters
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DatumName string // Reference datum name. What’s usually seen here is "W84", the standard WGS84 datum used by GPS.
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}
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// newDTM constructor
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func newDTM(s BaseSentence) (DTM, error) {
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p := NewParser(s)
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p.AssertType(TypeDTM)
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m := DTM{
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BaseSentence: s,
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LocalDatumCode: p.String(0, "local datum code"),
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LocalDatumSubcode: p.String(1, "local datum subcode"),
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LatitudeOffsetMinute: p.Float64(2, "latitude offset minutes"),
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LongitudeOffsetMinute: p.Float64(4, "longitude offset minutes"),
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AltitudeOffsetMeters: p.Float64(6, "altitude offset offset"),
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DatumName: p.String(7, "datum name"),
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}
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if p.String(3, "latitude offset direction") == South {
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m.LatitudeOffsetMinute *= -1
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}
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if p.String(5, "longitude offset direction") == West {
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m.LongitudeOffsetMinute *= -1
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}
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return m, p.Err()
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}

‎dtm_test.go

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package nmea
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import (
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"github.com/stretchr/testify/assert"
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"testing"
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)
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func TestDTM(t *testing.T) {
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var tests = []struct {
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name string
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raw string
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err string
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msg DTM
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}{
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{
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name: "good sentence 1",
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raw: "$GPDTM,W84,,0.0,N,0.0,E,0.0,W84*6F",
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msg: DTM{
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BaseSentence: BaseSentence{},
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LocalDatumCode: "W84",
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LocalDatumSubcode: "",
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LatitudeOffsetMinute: 0,
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LongitudeOffsetMinute: 0,
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AltitudeOffsetMeters: 0,
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DatumName: "W84",
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},
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},
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{
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name: "good sentence 2",
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raw: "$GPDTM,W84,X,00.1200,S,12.0000,W,100,W84*27",
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msg: DTM{
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BaseSentence: BaseSentence{},
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LocalDatumCode: "W84",
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LocalDatumSubcode: "X",
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LatitudeOffsetMinute: -0.12,
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LongitudeOffsetMinute: -12,
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AltitudeOffsetMeters: 100,
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DatumName: "W84",
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},
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},
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{
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name: "invalid nmea: LatitudeOffsetMinute",
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raw: "$GPDTM,W84,,x,N,0.0,E,0.0,W84*39",
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err: "nmea: GPDTM invalid latitude offset minutes: x",
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},
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{
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name: "invalid nmea: LongitudeOffsetMinute",
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raw: "$GPDTM,W84,,0.0,N,x,E,0.0,W84*39",
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err: "nmea: GPDTM invalid longitude offset minutes: x",
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},
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{
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name: "invalid nmea: AltitudeOffsetMeters",
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raw: "$GPDTM,W84,,0.0,N,0.0,E,x,W84*39",
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err: "nmea: GPDTM invalid altitude offset offset: x",
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},
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}
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for _, tt := range tests {
58+
t.Run(tt.name, func(t *testing.T) {
59+
m, err := Parse(tt.raw)
60+
if tt.err != "" {
61+
assert.Error(t, err)
62+
assert.EqualError(t, err, tt.err)
63+
} else {
64+
assert.NoError(t, err)
65+
mm := m.(DTM)
66+
mm.BaseSentence = BaseSentence{}
67+
assert.Equal(t, tt.msg, mm)
68+
}
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})
70+
}
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}

‎osd.go

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package nmea
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const (
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// TypeOSD type for OSD sentence for Own Ship Data
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TypeOSD = "OSD"
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7+
// OSDReferenceBottomTrackingLog is reference for bottom tracking log
8+
OSDReferenceBottomTrackingLog = "B"
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// OSDReferenceManual is reference for manually entered
10+
OSDReferenceManual = "M"
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// OSDReferenceWaterReferenced is reference for water referenced
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OSDReferenceWaterReferenced = "W"
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// OSDReferenceRadarTracking is reference for radar tracking of fixed target
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OSDReferenceRadarTracking = "R"
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// OSDReferencePositioningSystemGroundReference is reference for positioning system ground reference
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OSDReferencePositioningSystemGroundReference = "P"
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)
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// OSD - Own Ship Data
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// https://gpsd.gitlab.io/gpsd/NMEA.html#_osd_own_ship_data
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// https://github.com/nohal/OpenCPN/wiki/ARPA-targets-tracking-implementation#osd---own-ship-data
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//
23+
// Format: $--OSD,x.x,A,x.x,a,x.x,a,x.x,x.x,a*hh<CR><LF>
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// Example: $RAOSD,179.0,A,179.0,M,00.0,M,,,N*76
25+
type OSD struct {
26+
BaseSentence
27+
// Heading is Heading in degrees
28+
Heading float64
29+
30+
// HeadingStatus is Heading status
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// * A - data valid
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// * V - data invalid
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HeadingStatus string
34+
35+
// VesselTrueCourse is Vessel Course, degrees True
36+
VesselTrueCourse float64
37+
38+
// CourseReference is Course Reference, B/M/W/R/P
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// * B - bottom tracking log
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// * M - manually entered
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// * W - water referenced
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// * R - radar tracking of fixed target
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// * P - positioning system ground reference
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CourseReference string
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// VesselSpeed is Vessel Speed
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VesselSpeed float64
48+
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// SpeedReference is Speed Reference, B/M/W/R/P
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// * B - bottom tracking log
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// * M - manually entered
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// * W - water referenced
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// * R - radar tracking of fixed target
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// * P - positioning system ground reference.
55+
SpeedReference string
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57+
// VesselSetTrue is Vessel Set, degrees True - Manually entered
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VesselSetTrue float64
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60+
// VesselDrift is Vessel drift (speed) - Manually entered
61+
VesselDrift float64
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63+
// SpeedUnits is Speed Units
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// * K - km/h
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// * N - Knots
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// * S - statute miles/h
67+
SpeedUnits string
68+
}
69+
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// newOSD constructor
71+
func newOSD(s BaseSentence) (OSD, error) {
72+
p := NewParser(s)
73+
p.AssertType(TypeOSD)
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m := OSD{
75+
BaseSentence: s,
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Heading: p.Float64(0, "heading"),
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HeadingStatus: p.EnumString(1, "heading status", StatusValid, StatusInvalid),
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VesselTrueCourse: p.Float64(2, "vessel course true"),
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CourseReference: p.EnumString(
80+
3,
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"course reference",
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OSDReferenceBottomTrackingLog,
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OSDReferenceManual,
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OSDReferenceWaterReferenced,
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OSDReferenceRadarTracking,
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OSDReferencePositioningSystemGroundReference,
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),
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VesselSpeed: p.Float64(4, "vessel speed"),
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SpeedReference: p.EnumString(
90+
5,
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"speed reference",
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OSDReferenceBottomTrackingLog,
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OSDReferenceManual,
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OSDReferenceWaterReferenced,
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OSDReferenceRadarTracking,
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OSDReferencePositioningSystemGroundReference,
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),
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VesselSetTrue: p.Float64(6, "vessel set"),
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VesselDrift: p.Float64(7, "vessel drift"),
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SpeedUnits: p.EnumString(8, "speed units", DistanceUnitKilometre, DistanceUnitNauticalMile, DistanceUnitStatuteMile),
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}
102+
return m, p.Err()
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}

‎osd_test.go

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package nmea
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import (
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"github.com/stretchr/testify/assert"
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"testing"
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)
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func TestOSD(t *testing.T) {
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var tests = []struct {
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name string
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raw string
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err string
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msg OSD
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}{
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{
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name: "good sentence",
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raw: "$RAOSD,179.0,A,179.0,M,00.0,M,,,N*76",
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msg: OSD{
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BaseSentence: BaseSentence{},
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Heading: 179,
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HeadingStatus: "A",
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VesselTrueCourse: 179,
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CourseReference: "M",
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VesselSpeed: 0,
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SpeedReference: "M",
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VesselSetTrue: 0,
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VesselDrift: 0,
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SpeedUnits: "N",
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},
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},
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{
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name: "invalid nmea: Heading",
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raw: "$RAOSD,x179.0,A,179.0,M,00.0,M,,,N*0e",
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err: "nmea: RAOSD invalid heading: x179.0",
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},
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{
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name: "invalid nmea: HeadingStatus",
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raw: "$RAOSD,179.0,xA,179.0,M,00.0,M,,,N*0e",
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err: "nmea: RAOSD invalid heading status: xA",
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},
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{
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name: "invalid nmea: VesselTrueCourse",
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raw: "$RAOSD,179.0,A,x179.0,M,00.0,M,,,N*0e",
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err: "nmea: RAOSD invalid vessel course true: x179.0",
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},
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{
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name: "invalid nmea: CourseReference",
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raw: "$RAOSD,179.0,A,179.0,xM,00.0,M,,,N*0e",
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err: "nmea: RAOSD invalid course reference: xM",
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},
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{
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name: "invalid nmea: VesselSpeed",
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raw: "$RAOSD,179.0,A,179.0,M,x00.0,M,,,N*0e",
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err: "nmea: RAOSD invalid vessel speed: x00.0",
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},
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{
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name: "invalid nmea: SpeedReference",
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raw: "$RAOSD,179.0,A,179.0,M,00.0,xM,,,N*0e",
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err: "nmea: RAOSD invalid speed reference: xM",
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},
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{
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name: "invalid nmea: VesselSetTrue",
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raw: "$RAOSD,179.0,A,179.0,M,00.0,M,x,,N*0e",
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err: "nmea: RAOSD invalid vessel set: x",
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},
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{
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name: "invalid nmea: VesselDrift",
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raw: "$RAOSD,179.0,A,179.0,M,00.0,M,,x,N*0e",
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err: "nmea: RAOSD invalid vessel drift: x",
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},
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{
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name: "invalid nmea: SpeedUnits",
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raw: "$RAOSD,179.0,A,179.0,M,00.0,M,,,xN*0e",
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err: "nmea: RAOSD invalid speed units: xN",
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},
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}
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for _, tt := range tests {
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t.Run(tt.name, func(t *testing.T) {
79+
m, err := Parse(tt.raw)
80+
if tt.err != "" {
81+
assert.Error(t, err)
82+
assert.EqualError(t, err, tt.err)
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} else {
84+
assert.NoError(t, err)
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mm := m.(OSD)
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mm.BaseSentence = BaseSentence{}
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assert.Equal(t, tt.msg, mm)
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}
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})
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}
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}

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