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sentences for NMEA2000 over NMEA0183 (#106)
* sentences for NMEA2000 over NMEA0183
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| package nmea | ||
|
|
||
| import ( | ||
| "encoding/hex" | ||
| "fmt" | ||
| "strconv" | ||
| ) | ||
|
|
||
| const ( | ||
| // TypePCDIN is type of PCDIN sentence for SeaSmart.Net Protocol | ||
| TypePCDIN = "CDIN" | ||
| ) | ||
|
|
||
| // PCDIN - SeaSmart.Net Protocol transfers NMEA2000 message as NMEA0183 sentence | ||
| // http://www.seasmart.net/pdf/SeaSmart_HTTP_Protocol_RevG_043012.pdf (SeaSmart.Net Protocol Specification Version 1.7) | ||
| // | ||
| // Note: older SeaSmart.Net Protocol versions have different amount of fields | ||
| // | ||
| // Format: $PCDIN,hhhhhh,hhhhhhhh,hh,h--h*hh<CR><LF> | ||
| // Example: $PCDIN,01F112,000C72EA,09,28C36A0000B40AFD*56 | ||
| type PCDIN struct { | ||
| BaseSentence | ||
| PGN uint32 // PGN of NMEA2000 packet | ||
| Timestamp uint32 // ticks since something | ||
| Source uint8 // 0-255 | ||
| Data []byte // can be more than 8 bytes i.e can contain assembled fast packets | ||
| } | ||
|
|
||
| // newPCDIN constructor | ||
| func newPCDIN(s BaseSentence) (Sentence, error) { | ||
| p := NewParser(s) | ||
| p.AssertType(TypePCDIN) | ||
|
|
||
| if len(p.Fields) != 4 { | ||
| p.SetErr("fields", "invalid number of fields in sentence") | ||
| return nil, p.Err() | ||
| } | ||
| pgn, err := strconv.ParseUint(p.Fields[0], 16, 24) | ||
| if err != nil { | ||
| p.err = fmt.Errorf("nmea: %s failed to parse PGN field: %w", p.Prefix(), err) | ||
| return nil, p.Err() | ||
| } | ||
| timestamp, err := strconv.ParseUint(p.Fields[1], 16, 32) | ||
| if err != nil { | ||
| p.err = fmt.Errorf("nmea: %s failed to parse timestamp field: %w", p.Prefix(), err) | ||
| return nil, p.Err() | ||
| } | ||
| source, err := strconv.ParseUint(p.Fields[2], 16, 8) | ||
| if err != nil { | ||
| p.err = fmt.Errorf("nmea: %s failed to parse source field: %w", p.Prefix(), err) | ||
| return nil, p.Err() | ||
| } | ||
| data, err := hex.DecodeString(p.Fields[3]) | ||
| if err != nil { | ||
| p.err = fmt.Errorf("nmea: %s failed to decode data: %w", p.Prefix(), err) | ||
| return nil, p.Err() | ||
| } | ||
|
|
||
| return PCDIN{ | ||
| BaseSentence: s, | ||
| PGN: uint32(pgn), | ||
| Timestamp: uint32(timestamp), | ||
| Source: uint8(source), | ||
| Data: data, | ||
| }, p.Err() | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| package nmea | ||
|
|
||
| import ( | ||
| "github.com/stretchr/testify/assert" | ||
| "testing" | ||
| ) | ||
|
|
||
| func TestPCDIN(t *testing.T) { | ||
| var tests = []struct { | ||
| name string | ||
| raw string | ||
| err string | ||
| msg PCDIN | ||
| }{ | ||
| { | ||
| name: "good sentence", | ||
| raw: "$PCDIN,01F112,000C72EA,09,28C36A0000B40AFD*56", | ||
| msg: PCDIN{ | ||
| PGN: 127250, // 0x1F112 Vessel Heading | ||
| Timestamp: 815850, | ||
| Source: 9, | ||
| Data: []byte{0x28, 0xC3, 0x6A, 0x00, 0x00, 0xB4, 0x0A, 0xFD}, | ||
| }, | ||
| }, | ||
| { | ||
| name: "invalid number of fields", | ||
| raw: "$PCDIN,01F112,000C72EA,28C36A0000B40AFD*73", | ||
| err: "nmea: PCDIN invalid fields: invalid number of fields in sentence", | ||
| }, | ||
| { | ||
| name: "invalid PGN field", | ||
| raw: "$PCDIN,x1F112,000C72EA,09,28C36A0000B40AFD*1e", | ||
| err: "nmea: PCDIN failed to parse PGN field: strconv.ParseUint: parsing \"x1F112\": invalid syntax", | ||
| }, | ||
| { | ||
| name: "invalid timestamp field", | ||
| raw: "$PCDIN,01F112,x00C72EA,09,28C36A0000B40AFD*1e", | ||
| err: "nmea: PCDIN failed to parse timestamp field: strconv.ParseUint: parsing \"x00C72EA\": invalid syntax", | ||
| }, | ||
| { | ||
| name: "invalid source field", | ||
| raw: "$PCDIN,01F112,000C72EA,x9,28C36A0000B40AFD*1e", | ||
| err: "nmea: PCDIN failed to parse source field: strconv.ParseUint: parsing \"x9\": invalid syntax", | ||
| }, | ||
| { | ||
| name: "invalid hex data", | ||
| raw: "$PCDIN,01F112,000C72EA,09,x8C36A0000B40AFD*1c", | ||
| err: "nmea: PCDIN failed to decode data: encoding/hex: invalid byte: U+0078 '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) | ||
| pgrme := m.(PCDIN) | ||
| pgrme.BaseSentence = BaseSentence{} | ||
| assert.Equal(t, tt.msg, pgrme) | ||
| } | ||
| }) | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| package nmea | ||
|
|
||
| import ( | ||
| "encoding/hex" | ||
| "fmt" | ||
| "strconv" | ||
| ) | ||
|
|
||
| const ( | ||
| // TypePGN is type of PGN sentence for transferring single NMEA2000 frame as NMEA0183 sentence | ||
| TypePGN = "PGN" | ||
| ) | ||
|
|
||
| // PGN - transferring single NMEA2000 frame as NMEA0183 sentence | ||
| // https://opencpn.org/wiki/dokuwiki/lib/exe/fetch.php?media=opencpn:software:mxpgn_sentence.pdf | ||
| // | ||
| // Format: $--PGN,pppppp,aaaa,c--c*hh<CR><LF> | ||
| // Example: $MXPGN,01F112,2807,FC7FFF7FFF168012*11 | ||
| type PGN struct { | ||
| BaseSentence | ||
| PGN uint32 // PGN of NMEA2000 packet | ||
| IsSend bool // is this sentence received or for sending | ||
| Priority uint8 // 0-7 | ||
| Address uint8 // depending on the IsSend field this is Source Address of received packet or Destination for send packet | ||
| Data []byte // 1-8 bytes. This is single N2K frame. N2K Fast-packets should be assembled from individual frames | ||
| } | ||
|
|
||
| // newPGN constructor | ||
| func newPGN(s BaseSentence) (Sentence, error) { | ||
| p := NewParser(s) | ||
| p.AssertType(TypePGN) | ||
|
|
||
| if len(p.Fields) != 3 { | ||
| p.SetErr("fields", "invalid number of fields in sentence") | ||
| return nil, p.Err() | ||
| } | ||
| pgn, err := strconv.ParseUint(p.Fields[0], 16, 24) | ||
| if err != nil { | ||
| p.err = fmt.Errorf("nmea: %s failed to parse PGN field: %w", p.Prefix(), err) | ||
| return nil, p.Err() | ||
| } | ||
| attributes, err := strconv.ParseUint(p.Fields[1], 16, 16) | ||
| if err != nil { | ||
| p.err = fmt.Errorf("nmea: %s failed to parse attributes field: %w", p.Prefix(), err) | ||
| return nil, p.Err() | ||
| } | ||
| dataLength := int((attributes >> 8) & 0b1111) // bits 8-11 | ||
| if dataLength*2 != (len(p.Fields[2])) { | ||
| p.SetErr("dlc", "data length does not match actual data length") | ||
| return nil, p.Err() | ||
| } | ||
| data, err := hex.DecodeString(p.Fields[2]) | ||
| if err != nil { | ||
| p.err = fmt.Errorf("nmea: %s failed to decode data: %w", p.Prefix(), err) | ||
| return nil, p.Err() | ||
| } | ||
|
|
||
| return PGN{ | ||
| BaseSentence: s, | ||
| PGN: uint32(pgn), | ||
| IsSend: attributes>>15 == 1, // bit 15 | ||
| Priority: uint8((attributes >> 12) & 0b111), // bits 12,13,14 | ||
| Address: uint8(attributes), // bits 0-7 | ||
| Data: data, | ||
| }, p.Err() | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| package nmea | ||
|
|
||
| import ( | ||
| "github.com/stretchr/testify/assert" | ||
| "testing" | ||
| ) | ||
|
|
||
| func TestPGN(t *testing.T) { | ||
| var tests = []struct { | ||
| name string | ||
| raw string | ||
| err string | ||
| msg PGN | ||
| }{ | ||
| { | ||
| name: "good sentence", | ||
| raw: "$MXPGN,01F112,2807,FC7FFF7FFF168012*11", | ||
| msg: PGN{ | ||
| PGN: 127250, // 0x1F112 Vessel Heading | ||
| IsSend: false, | ||
| Priority: 2, | ||
| Address: 7, | ||
| Data: []byte{0xFC, 0x7f, 0xFF, 0x7f, 0xFF, 0x16, 0x80, 0x12}, | ||
| }, | ||
| }, | ||
| { | ||
| name: "invalid number of fields", | ||
| raw: "$MXPGN,01F112,FC7FFF7FFF168012*30", | ||
| err: "nmea: MXPGN invalid fields: invalid number of fields in sentence", | ||
| }, | ||
| { | ||
| name: "invalid PGN field", | ||
| raw: "$MXPGN,0xF112,2807,FC7FFF7FFF168012*58", | ||
| err: "nmea: MXPGN failed to parse PGN field: strconv.ParseUint: parsing \"0xF112\": invalid syntax", | ||
| }, | ||
| { | ||
| name: "invalid attributes field", | ||
| raw: "$MXPGN,01F112,x807,FC7FFF7FFF168012*5b", | ||
| err: "nmea: MXPGN failed to parse attributes field: strconv.ParseUint: parsing \"x807\": invalid syntax", | ||
| }, | ||
| { | ||
| name: "invalid data length field", | ||
| raw: "$MXPGN,01F112,2207,FC7FFF7FFF168012*1b", | ||
| err: "nmea: MXPGN invalid dlc: data length does not match actual data length", | ||
| }, | ||
| { | ||
| name: "invalid hex data", | ||
| raw: "$MXPGN,01F112,2807,xC7FFF7FFF168012*2f", | ||
| err: "nmea: MXPGN failed to decode data: encoding/hex: invalid byte: U+0078 '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) | ||
| pgrme := m.(PGN) | ||
| pgrme.BaseSentence = BaseSentence{} | ||
| assert.Equal(t, tt.msg, pgrme) | ||
| } | ||
| }) | ||
| } | ||
| } |
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