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Add Kenwood proprietary sentences $PKLDS, $PKNDS, $PKLID, $PKNID, $PKLSH, $PKNSH, $PKWDWPL (#118)
These proprietary NMEA sentences have been captured from Various Kenwood LMR radios. and is parity with pynema2
1 parent cd0f55b commit e4d24e3

16 files changed

+716
-0
lines changed

‎README.md

+7
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@@ -90,6 +90,13 @@ on [IEC 61162-1:2016 (Edition 5.0 2016-08)](https://webstore.iec.ch/publication/
9090
| HSS | Hull stress surveillance systems | |
9191
| HTC | Heading/track control command | |
9292
| HTD | Heading /track control data | |
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| KLDS | Kenwood LMR - FleetSync AVL | |
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| KLID | Kenwood LMR - FleetSync | |
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| KLSH | Kenwood LMR - FleetSync AVL | |
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| KNDS | Kenwood LMR - Digital AVL | |
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| KNID | Kenwood LMR - Digital | |
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| KNSH | Kenwood LMR - Digital AVL | |
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| KWDWPL | Kenwood Waypoint Location - Amateur Radio | [direwolf](https://github.com/wb2osz/direwolf/blob/master/src/waypoint.c) |
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| LR1 | AIS long-range reply sentence 1 | |
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| LR2 | AIS long-range reply sentence 2 | |
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| LR3 | AIS long-range reply sentence 3 | |

‎pklds.go

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package nmea
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import (
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"strings"
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)
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const (
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// TypePKLDS type for PKLDS sentences
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TypePKLDS = "KLDS"
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)
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// PKLDS is Kenwood propirtary sentance it is RMC with the addition of Fleetsync ID and status information.
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// http://aprs.gids.nl/nmea/#rmc
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//
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// Format: $PKLDS,hhmmss.ss,A,ddmm.mm,a,dddmm.mm,a,x.x,x.x,xxxx,x.x,a*hh<CR><LF>
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// Example: $PKLDS,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W00,100,2000,25,00*6E
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type PKLDS struct {
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BaseSentence
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Time Time // Time Stamp
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Validity string // validity - A-ok, V-invalid
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Latitude float64 // Latitude
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Longitude float64 // Longitude
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Speed float64 // Speed in knots
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Course float64 // True course
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Date Date // Date
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Variation float64 // Magnetic variation
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SentanceVersion string // 00 to 15
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Fleet string // 100 to 349
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UnitID string // 1000 to 4999
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Status string // 10 to 99
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Extension string // 00 to 99
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}
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// newPKLDS constructor
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func newPKLDS(s BaseSentence) (Sentence, error) {
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p := NewParser(s)
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p.AssertType(TypePKLDS)
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m := PKLDS{
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BaseSentence: s,
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Time: p.Time(0, "time"),
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Validity: p.EnumString(1, "validity", ValidRMC, InvalidRMC),
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Latitude: p.LatLong(2, 3, "latitude"),
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Longitude: p.LatLong(4, 5, "longitude"),
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Speed: p.Float64(6, "speed"),
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Course: p.Float64(7, "course"),
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Date: p.Date(8, "date"),
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Variation: p.Float64(9, "variation"),
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SentanceVersion: p.String(10, "sentance version, range of 00 to 15"),
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Fleet: p.String(11, "fleet, range of 100 to 349"),
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UnitID: p.String(12, "subscriber unit id, range of 1000 to 4999"),
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Status: p.String(13, "subscriber unit status id, range of 10 to 99"),
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Extension: p.String(14, "reserved for future use, range of 00 to 99"),
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}
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if strings.HasPrefix(m.SentanceVersion, "W") == true {
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m.Variation = 0 - m.Variation
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}
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m.SentanceVersion = strings.TrimPrefix(strings.TrimPrefix(m.SentanceVersion, "W"), "E")
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return m, p.Err()
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}

‎pklds_test.go

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package nmea
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import (
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"testing"
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"github.com/stretchr/testify/assert"
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)
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var pkldstests = []struct {
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name string
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raw string
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err string
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msg PKLDS
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}{
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{
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name: "good sentence West",
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raw: "$PKLDS,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W00,100,2000,15,00,*60",
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msg: PKLDS{
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Time: Time{true, 22, 05, 16, 0},
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Validity: "A",
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Latitude: MustParseGPS("5133.82 N"),
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Longitude: MustParseGPS("00042.24 W"),
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Speed: 173.8,
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Course: 231.8,
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Date: Date{true, 13, 06, 94},
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Variation: -4.2,
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SentanceVersion: "00",
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Fleet: "100",
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UnitID: "2000",
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Status: "15",
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Extension: "00",
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},
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},
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{
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name: "good sentence East",
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raw: "$PKLDS,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,E00,100,2000,15,00,*72",
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msg: PKLDS{
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Time: Time{true, 22, 05, 16, 0},
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Validity: "A",
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Latitude: MustParseGPS("5133.82 N"),
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Longitude: MustParseGPS("00042.24 W"),
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Speed: 173.8,
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Course: 231.8,
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Date: Date{true, 13, 06, 94},
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Variation: 4.2,
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SentanceVersion: "00",
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Fleet: "100",
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UnitID: "2000",
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Status: "15",
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Extension: "00",
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},
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},
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{
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name: "bad sentence",
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raw: "$PKLDS,220516,D,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W00,100,2000,15,00,*65",
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err: "nmea: PKLDS invalid validity: D",
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},
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}
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func TestPKLDS(t *testing.T) {
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for _, tt := range pkldstests {
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t.Run(tt.name, func(t *testing.T) {
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m, err := Parse(tt.raw)
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if tt.err != "" {
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assert.Error(t, err)
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assert.EqualError(t, err, tt.err)
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} else {
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assert.NoError(t, err)
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pklds := m.(PKLDS)
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pklds.BaseSentence = BaseSentence{}
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assert.Equal(t, tt.msg, pklds)
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}
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})
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}
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}

‎pklid.go

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package nmea
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const (
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// TypePKLID type for PKLID sentances
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TypePKLID = "KLID"
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)
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// PKLID is a Kenwood Propritary sentance used for GPS data communications in FleetSync.
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// $PKLID,<0>,<1>,<2>,<3>,<4>*hh<CR><LF>
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// Format: $PKLID,xx,xxx,xxxx,xx,xx,*xx<CR><LF>
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// Example: $PKLID,00,100,2000,15,00,*??
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type PKLID struct {
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BaseSentence
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SentanceVersion string // 00 to 15
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Fleet string // 100 to 349
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UnitID string // 1000 to 4999
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Status string // 10 to 99
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Extension string // 00 to 99
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}
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// newPKLID constructor
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func newPKLID(s BaseSentence) (Sentence, error) {
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p := NewParser(s)
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p.AssertType(TypePKLID)
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return PKLID{
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BaseSentence: s,
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SentanceVersion: p.String(0, "sentance version, range of 00 to 15"),
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Fleet: p.String(1, "fleet, range of 100 to 349"),
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UnitID: p.String(2, "subscriber unit id, range of 1000 to 4999"),
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Status: p.String(3, "subscriber unit status id, range of 10 to 99"),
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Extension: p.String(4, "reserved for future use, range of 00 to 99"),
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}, p.Err()
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}

‎pklid_test.go

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package nmea
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import (
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"testing"
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"github.com/stretchr/testify/assert"
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)
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var pklidtests = []struct {
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name string
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raw string
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err string
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msg PKLID
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}{
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{
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name: "typical sentance",
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raw: "$PKLID,00,100,2000,15,00,*6D",
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msg: PKLID{
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SentanceVersion: "00",
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Fleet: "100",
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UnitID: "2000",
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Status: "15",
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Extension: "00",
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},
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},
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}
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func TestPKLID(t *testing.T) {
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for _, tt := range pklidtests {
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t.Run(tt.name, func(t *testing.T) {
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m, err := Parse(tt.raw)
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if tt.err != "" {
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assert.Error(t, err)
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assert.EqualError(t, err, tt.err)
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} else {
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assert.NoError(t, err)
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pklid := m.(PKLID)
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pklid.BaseSentence = BaseSentence{}
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assert.Equal(t, tt.msg, pklid)
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}
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})
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}
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}

‎pklsh.go

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package nmea
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const (
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// TypePKLSH type for PKLSH sentances
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TypePKLSH = "KLSH"
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)
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// PKLSH is a Kenwood Propritary sentance used for GPS data communications in FleetSync.
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//
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// adds UnitID and Fleet to $GPGLL sentance
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//
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// $PKLSH,<0>,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh<CR><LF>
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// Format: $PKLSH,xxxx.xxxx,x,xxxxx.xxxx,x,xxxxxx,x,xxx,xxxx,*xx<CR><LF>
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// Example: $PKLSH,4000.0000,N,13500.0000,E,021720,A,100,2000,*??
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type PKLSH struct {
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BaseSentence
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Latitude float64 // Latitude
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Longitude float64 // Longitude
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Time Time // Time Stamp
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Validity string // validity - A=valid, V=invalid
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Fleet string // 100 to 349
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UnitID string // 1000 to 4999
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}
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// newPKLSH constructor
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func newPKLSH(s BaseSentence) (Sentence, error) {
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p := NewParser(s)
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p.AssertType(TypePKLSH)
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return PKLSH{
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BaseSentence: s,
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Latitude: p.LatLong(0, 1, "latitude"),
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Longitude: p.LatLong(2, 3, "longitude"),
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Time: p.Time(4, "time"),
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Validity: p.EnumString(5, "validity", ValidGLL, InvalidGLL),
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Fleet: p.String(6, "fleet, range of 100 to 349"),
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UnitID: p.String(7, "subscriber unit id, range of 1000 to 4999"),
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}, p.Err()
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}

‎pklsh_test.go

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package nmea
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import (
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"testing"
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6+
"github.com/stretchr/testify/assert"
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)
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9+
var pklshtests = []struct {
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name string
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raw string
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err string
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msg PKLSH
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}{
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{
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name: "good sentence",
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raw: "$PKLSH,3926.7952,N,12000.5947,W,022732,A,100,2000*1A",
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msg: PKLSH{
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Latitude: MustParseLatLong("3926.7952 N"),
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Longitude: MustParseLatLong("12000.5947 W"),
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Time: Time{
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Valid: true,
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Hour: 2,
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Minute: 27,
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Second: 32,
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Millisecond: 0,
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},
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Validity: "A",
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Fleet: "100",
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UnitID: "2000",
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},
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},
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{
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name: "bad validity",
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raw: "$PKLSH,3926.7952,N,12000.5947,W,022732,D,100,2000*1F",
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err: "nmea: PKLSH invalid validity: D",
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},
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}
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func TestPKLSH(t *testing.T) {
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for _, tt := range pklshtests {
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t.Run(tt.name, func(t *testing.T) {
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m, err := Parse(tt.raw)
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if tt.err != "" {
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assert.Error(t, err)
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assert.EqualError(t, err, tt.err)
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} else {
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assert.NoError(t, err)
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pklsh := m.(PKLSH)
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pklsh.BaseSentence = BaseSentence{}
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assert.Equal(t, tt.msg, pklsh)
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}
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})
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}
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}

‎pknds.go

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package nmea
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import (
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"strings"
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)
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const (
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// TypePKNDS type for PKLDS sentences
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TypePKNDS = "KNDS"
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)
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// PKNDS is Kenwood propirtary sentance it is RMC with the addition of NEXTEDGE and status information.
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// http://aprs.gids.nl/nmea/#rmc
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//
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// Format: $PKNDS,hhmmss.ss,A,ddmm.mm,a,dddmm.mm,a,xxx.x,x,x.x,xxx,Uxxxx,xxx.xx,*hh<CR><LF>
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// Example: $PKNDS,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W00,U00001,207,00,*6E
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type PKNDS struct {
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BaseSentence
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Time Time // Time Stamp
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Validity string // validity - A-ok, V-invalid
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Latitude float64 // Latitude
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Longitude float64 // Longitude
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Speed float64 // Speed in knots
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Course float64 // True course
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Date Date // Date
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Variation float64 // Magnetic variation
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SentanceVersion string // 00 to 15
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UnitID string // U00001 to U65519 or U00000001 to U16776415 (U is FIXED)
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Status string // 001 to 255
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Extension string // 00 to 99
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}
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// newPKNDS constructor
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func newPKNDS(s BaseSentence) (Sentence, error) {
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p := NewParser(s)
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p.AssertType(TypePKNDS)
37+
m := PKNDS{
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BaseSentence: s,
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Time: p.Time(0, "time"),
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Validity: p.EnumString(1, "validity", ValidRMC, InvalidRMC),
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Latitude: p.LatLong(2, 3, "latitude"),
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Longitude: p.LatLong(4, 5, "longitude"),
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Speed: p.Float64(6, "speed"),
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Course: p.Float64(7, "course"),
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Date: p.Date(8, "date"),
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Variation: p.Float64(9, "variation"),
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SentanceVersion: p.String(10, "sentance version, range of 00 to 15"),
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UnitID: p.String(11, "unit ID, NXDN range U00001 to U65519, DMR range of U00000001 to U16776415"),
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Status: p.String(12, "subscriber unit status id, range of 001 to 255"),
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Extension: p.String(13, "reserved for future use, range of 00 to 99"),
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}
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if strings.HasPrefix(m.SentanceVersion, "W") == true {
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m.Variation = 0 - m.Variation
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}
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m.SentanceVersion = strings.TrimPrefix(strings.TrimPrefix(m.SentanceVersion, "W"), "E")
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return m, p.Err()
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}

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