feature: add GNS sentence

README.md

@@ -15,6 +15,7 @@
 - [DBK - Depth Below Keel](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbk_depth_below_keel)
 - [DPT - Depth of Water](https://gpsd.gitlab.io/gpsd/NMEA.html#_dpt_depth_of_water)
 - [DSC - Digital Selective Calling Class-D Radios](http://continuouswave.com/whaler/reference/DSC_Datagrams.html)
+- [GNS - Fix Data](https://gpsd.gitlab.io/gpsd/NMEA.html#_gns_fix_data)
 - [GGA - Global Positioning System Fix Data](https://gpsd.gitlab.io/gpsd/NMEA.html#_gga_global_positioning_system_fix_data)
 - [GLL - Geographic Position - Latitude/Longitude](https://gpsd.gitlab.io/gpsd/NMEA.html#_gll_geographic_position_latitude_longitude)
 - [HDG - Heading - Deviation & Variation](https://gpsd.gitlab.io/gpsd/NMEA.html#_hdg_heading_deviation_amp_variation)

hooks/GNS.js

@@ -0,0 +1,193 @@
+'use strict'
+
+/**
+ * Copyright 2016 Signal K and Fabian Tollenaar <fabian@signalk.org>.
+ *
+ * Licensed under the Apache License, Version 2.0 (the 'License');
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an 'AS IS' BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+const debug = require('debug')('signalk-parser-nmea0183/GGA')
+const utils = require('@signalk/nmea0183-utilities')
+const moment = require('moment-timezone')
+
+/*
+=== GNS - Fix Data ===
+Time, Position and fix related data for a GPS receiver.
+------------------------------------------------------------------------------
+        0         1       2 3        4 5    6  7   8   9   10  11  12
+        |         |       | |        | |    |  |   |   |   |   |   |
+ $--GNS,hhmmss.ss,ddmm.mm,a,dddmm.mm,a,c--c,xx,x.x,x.x,x.x,x.x,x.x*hh<CR><LF>
+------------------------------------------------------------------------------
+Field Number:
+0. UTC of position, hh is hours, mm is minutes, ss.ss is seconds
+1. Latitude, dd is minutes, mm.mm is minutes
+2. N or S (North or South)
+3. Longitude, dd is minutes, mm.mm is minutes
+4. E or W (East or West)
+5. Mode indicator (non-null) - Variable character field with one character for each supported constellation:
+    * First character is for GPS
+    * Second character is for GLONASS
+    * Third character is Galileo
+    * Fourth character is for BeiDou
+    * Fifth character is for QZSS
+    * Subsequent characters will be added for new constellations
+   Each character will be one of the following
+     - N = No fix. Satellite system not used in position fix, or fix not valid
+     - A = Autonomous. Satellite system used in non-differential mode in position fix
+     - D = Differential (including all OmniSTAR services). Satellite system used in differential mode in position fix
+     - P = Precise. Satellite system used in precision mode. Precision mode is defined as: no deliberate degradation (such as Selective Availability) and higher resolution code (P-code) is used to compute position fix
+     - R = Real-Time Kinematic. Satellite system used in RTK mode with fixed integers
+     - F = Float RTK. Satellite system used in real-time kinematic mode with floating integers
+     - E = Estimated (dead reckoning) mode
+     - M = Manual Input mode
+     - S = Simulator mode
+6. Total number of satellites in use, 00-99
+7. Horizontal Dilution of Precision (HDOP), calculated using all the satellites (GPS, GLONASS, and any future satellites) and used in computing the solution reported in each GNS sentence
+8. Antenna altitude, meters, re:mean-sea-level (geoid)
+9. Goeidal separation meters - The difference between the earth ellipsoid surface and mean-sea-level (geoid) surface defined by the reference datum used in the position solution
+10. Age of differential data - Null if talker ID is GN, additional GNS messages follow with Age of differential data
+11. Differential reference station ID, 0000-4095 - Null if Talker ID is GN, Additional GNS messages follow with Reference station ID
+12. Navigational status (added when the IEC61162-1:2010/NMEA 0183 V4.10 option is selected in the NMEA I/O configuration):
+     - S = Safe
+     - C = Caution
+     - U = Unsafe
+     - V = Not valid for navigation
+13. Checksum
+*/
+
+function isEmpty(mixed) {
+  return (
+    (typeof mixed !== 'string' && typeof mixed !== 'number') ||
+    (typeof mixed === 'string' && mixed.trim() === '')
+  )
+}
+
+function indicator(chars, modes) {
+    const systems = ["GPS","GNSS","Galileo","BeiDou","QZSS"]
+    const indications = chars.map(function (val, i) { return `${systems[i]}: ${modes[val]}` })
+    return indications.join(",")
+  }
+
+module.exports = function (input) {
+  const { id, sentence, parts, tags } = input
+
+  const empty = parts.reduce((e, val) => {
+    if (isEmpty(val)) {
+      ++e
+    }
+    return e
+  }, 0)
+
+  if (empty > 4) {
+    return null
+  }
+
+  const time = parts[0].indexOf('.') === -1 ? parts[0] : parts[0].split('.')[0]
+  const timestamp = utils.timestamp(time, moment.tz('UTC').format('DDMMYY'))
+
+  const mode = {
+    "A": "Autonomous (non-differential)",
+    "D": "Differential mode",
+    "E": "Estimated (dead reckoning) Mode",
+    "F": "RTK Float",
+    "M": "Manual Input Mode",
+    "N": "Constellation not in use, or no valid fix",
+    "P": "Precise (no degradation, like Selective Availability, and hires)",
+    "R": "RTK Integer",
+    "S": "Simulator Mode"
+  }
+
+  const state = {
+    "S": "Safe",
+    "C": "Caution",
+    "U": "Unsafe",
+    "V": "Not valid for navigation"
+  }
+
+  const delta = {
+    updates: [
+      {
+        source: tags.source,
+        timestamp: timestamp,
+        values: [
+          {
+            path: 'navigation.position',
+            value: {
+              longitude: utils.coordinate(parts[3], parts[4]),
+              latitude: utils.coordinate(parts[1], parts[2]),
+            },
+          },
+          {
+            path: 'navigation.gnss.methodQuality',
+            value: indicator(parts[5].split(""), mode),
+          },
+
+          {
+            path: 'navigation.gnss.satellites',
+            value: utils.int(parts[6]),
+          },
+
+          {
+            path: 'navigation.gnss.antennaAltitude',
+            value: utils.float(parts[8]),
+          },
+
+          {
+            path: 'navigation.gnss.horizontalDilution',
+            value: utils.float(parts[7]),
+          },
+
+          {
+            path: 'navigation.gnss.geoidalSeparation',
+            value: utils.float(parts[9]),
+          },
+
+          {
+            path: 'navigation.gnss.differentialAge',
+            value: utils.float(parts[10]),
+          },
+
+          {
+            path: 'navigation.gnss.differentialReference',
+            value: Number(parts[11]),
+          },
+          {
+            path: 'navigation.state',
+            value: state[(parts[12])],
+          },
+        ],
+      },
+    ],
+  }
+
+  const toRemove = []
+
+  delta.updates[0].values.forEach((update, index) => {
+    if (
+      typeof update.value === 'undefined' ||
+      update.value === null ||
+      (typeof update.value === 'string' && update.value.trim() === '') ||
+      (typeof update.value === 'number' && isNaN(update.value))
+    ) {
+      toRemove.push(index)
+    }
+  })
+
+  if (toRemove.length > 0) {
+    toRemove.forEach((index) => {
+      delta.updates[0].values.splice(index, 1)
+    })
+  }
+
+  return delta
+}

hooks/index.js

@@ -6,6 +6,7 @@ module.exports = {
   DBS: require('./DBS.js'),
   DPT: require('./DPT.js'),
   DSC: require('./DSC.js'),
+  GNS: require('./GNS.js'),
   GGA: require('./GGA.js'),
   GLL: require('./GLL.js'),
   GSV: require('./GSV.js'),

test/GNS.js

@@ -0,0 +1,92 @@
+'use strict'
+
+/**
+ * Copyright 2016 Signal K and Fabian Tollenaar <fabian@signalk.org>.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+const Parser = require('../lib')
+const chai = require('chai')
+const should = chai.Should()
+
+chai.use(require('chai-things'))
+chai.use(require('@signalk/signalk-schema').chaiModule)
+
+const toFull = require('./toFull')
+
+describe('GGA', () => {
+  it('Converts OK using individual parser', () => {
+    const delta = new Parser().parse(
+      '$GPGNS,111648.00,0235.0379,S,04422.1450,W,ANN,12,0.8,8.5,-22.3,,,S*5D'
+    )
+
+    // Paths
+    delta.updates[0].values.should.contain.an.item.with.property(
+      'path',
+      'navigation.position'
+    )
+    delta.updates[0].values.should.contain.an.item.with.property(
+      'path',
+      'navigation.gnss.methodQuality'
+    )
+    delta.updates[0].values.should.contain.an.item.with.property(
+      'path',
+      'navigation.gnss.satellites'
+    )
+    delta.updates[0].values.should.contain.an.item.with.property(
+      'path',
+      'navigation.gnss.antennaAltitude'
+    )
+    delta.updates[0].values.should.contain.an.item.with.property(
+      'path',
+      'navigation.gnss.horizontalDilution'
+    )
+    delta.updates[0].values.should.contain.an.item.with.property(
+        'path',
+        'navigation.gnss.geoidalSeparation'
+      )
+    delta.updates[0].values.should.contain.an.item.with.property(
+      'path',
+      'navigation.gnss.differentialAge'
+    )
+    delta.updates[0].values.should.contain.an.item.with.property(
+      'path',
+      'navigation.gnss.differentialReference'
+    )
+    delta.updates[0].values.should.contain.an.item.with.property(
+        'path',
+        'navigation.state'
+      )
+
+    // Values
+    delta.updates[0].values[0].value.should.deep.equal({
+      longitude: -44.369083333333336,
+      latitude: -2.583965,
+    })
+    delta.updates[0].values[1].value.should.equal('GPS: Autonomous (non-differential),GNSS: Constellation not in use, or no valid fix,Galileo: Constellation not in use, or no valid fix')
+    delta.updates[0].values[2].value.should.equal(12)
+    delta.updates[0].values[3].value.should.equal(8.5)
+    delta.updates[0].values[4].value.should.equal(0.8)
+    delta.updates[0].values[5].value.should.equal(-22.3)
+    delta.updates[0].values[6].value.should.equal(0)
+    delta.updates[0].values[7].value.should.equal(0)
+    delta.updates[0].values[8].value.should.equal("Safe")
+    toFull(delta).should.be.validSignalK
+  })
+
+  it("Doesn't choke on empty sentences", () => {
+    const delta = new Parser().parse('$GPGNS,,,,,,,,,,,,,S*59')
+    should.equal(delta, null)
+  })
+})