Merge pull request #1 from ahmedMHasan/additional_sentences_v1

Additional sentences v1

README.md

@@ -47,6 +47,7 @@ on [IEC 61162-1:2016 (Edition 5.0 2016-08)](https://webstore.iec.ch/publication/
 | [ALR](./alr.go)    | Set alarm state                                                     |                                                                                                |
 | [APB](./apb.go)    | Heading/track controller (autopilot) sentence B                     | [gpsd](https://gpsd.gitlab.io/gpsd/NMEA.html#_apb_autopilot_sentence_b)                        |
 | [ARC](./arc.go)    | Alert command refused                                               |                                                                                                |
+| [AZT](./azt.go)    | Azimuth Thruster message                                            |                                                                                                |
 | [BBM](./bbm.go)    | AIS broadcast binary message                                        |                                                                                                |
 | [BEC](./bec.go)    | Bearing and distance to waypoint, Dead reckoning                    | [1](http://www.nmea.de/nmea0183datensaetze.html#bec)                                           |
 | [BOD](./bod.go)    | Bearing origin to destination                                       | [gpsd](https://gpsd.gitlab.io/gpsd/NMEA.html#_bod_bearing_waypoint_to_waypoint)                |
@@ -95,6 +96,7 @@ on [IEC 61162-1:2016 (Edition 5.0 2016-08)](https://webstore.iec.ch/publication/
 | LR3                | AIS long-range reply sentence 3                                     |                                                                                                |
 | LRF                | AIS long-range function                                             |                                                                                                |
 | LRI                | AIS long-range interrogation                                        |                                                                                                |
+| [MCP](./mcp.go)    | Micropilot Joystick controller message                              |                                                                                                |
 | [MDA](./mda.go)    | Meteorological Composite                                            | [gpsd](https://gpsd.gitlab.io/gpsd/NMEA.html#_mda_meteorological_composite)                    |
 | [MTA](./mta.go)    | Air Temperature (obsolete, use XDR instead)                         |                                                                                                |
 | MOB                | Man over board notification                                         |                                                                                                |

azt.go

@@ -0,0 +1,60 @@
+package nmea
+
+const (
+	// TypeAZT type for AZT sentences
+	TypeAZT = "AZT"
+)
+
+// AZT - Azimuth Thruster Message
+// Format: $--AZT,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x*hh<CR><LF>
+// Example: $IIAZT,1,45.5,90.0,50.0,60.0,75.0,30.0,40.0,80.0,70.0,3,85.0,0,0,0,12345,9876,5432*2B
+type AZT struct {
+	BaseSentence
+	ThrusterNo                            int64   // 1...9 Azimuth thruster number 1..9.
+	SteeringCommandSetValue               float64 // 0...359.9 ° Steering command set value.
+	SteeringMeasurementActualValue        float64 // 0...359.9 ° Steering measurement actual value.
+	PrimeMoverCommandSetValue             float64 // -100...+100 % Prime mover (P.M.) RPM command set value. +100% equals nominal RPM (negative optional).
+	PrimeMoverMeasurementActualValue      float64 // -100...+100 % P.M. RPM measurement actual value. +100% equals nominal RPM (negative optional).
+	VariableSlippingClutchCommandSetValue float64 // 0...100 % Variable slipping clutch command set value. 100% equals fully engaged clutch (no slipping), 0% equals clutch disengaged. <zero value if not used>.
+	PitchCommandSetValue                  float64 // -100...+100 % Pitch command set value. -100% equals max. negative pitch, 0% equals zero pitch, +100% equals max. positive pitch. <zero value if not used>.
+	PitchMeasurementActualValue           float64 // -100...+100 % Pitch measurement actual value. <zero value if not used>.
+	PMLoadLimitSetValue                   float64 // 0...120 % P.M. load limit set value (LLS). <zero value if not used>.
+	PMLoadLimitCurrentMaxValue            float64 // 0...120 % P.M. load limit current max. allowed value. <zero value if not used>.
+	PMLoadMeasurementActualValue          float64 // 0...120 % P.M. load measurement actual value (FPS). <zero value if not used>.
+	ActiveControlStationNumber            int64   // 0...9 Active control station number in range of 1…9. Value is zero if no control station is selected.
+	PropellerRPMMeasurementActualValue    float64 // 0...100 % Propeller RPM measurement actual value. +100% equals nominal RPM (used with slipping clutch).
+	Reserved1                             float64 // Reserved for future use. <zero value>.
+	Reserved2                             float64 // Reserved for future use. <zero value>.
+	Reserved3                             float64 // Reserved for future use. <zero value>.
+	ValueErrorStatusWord                  int64   // Value error status word for values 1...15, each bit indicates a single value error condition state either OK or ERROR.
+	ControlStateWord1                     int64   // Control state word 1, each bit indicates a separate condition state either ON or OFF.
+	ControlStateWord2                     int64   // Control state word 2 (pitch), each bit indicates a separate condition state either ON or OFF.
+}
+
+// newAZT constructor
+func newAZT(s BaseSentence) (Sentence, error) {
+	p := NewParser(s)
+	p.AssertType(TypeAZT)
+	return AZT{
+		BaseSentence:                          s,
+		ThrusterNo:                            p.Int64(0, "x"),
+		SteeringCommandSetValue:               p.Float64(1, "value1"),
+		SteeringMeasurementActualValue:        p.Float64(2, "value2"),
+		PrimeMoverCommandSetValue:             p.Float64(3, "value3"),
+		PrimeMoverMeasurementActualValue:      p.Float64(4, "value4"),
+		VariableSlippingClutchCommandSetValue: p.Float64(5, "value5"),
+		PitchCommandSetValue:                  p.Float64(6, "value6"),
+		PitchMeasurementActualValue:           p.Float64(7, "value7"),
+		PMLoadLimitSetValue:                   p.Float64(8, "value8"),
+		PMLoadLimitCurrentMaxValue:            p.Float64(9, "value9"),
+		PMLoadMeasurementActualValue:          p.Float64(10, "value10"),
+		ActiveControlStationNumber:            p.Int64(11, "value11"),
+		PropellerRPMMeasurementActualValue:    p.Float64(12, "value12"),
+		Reserved1:                             p.Float64(13, "value13"),
+		Reserved2:                             p.Float64(14, "value14"),
+		Reserved3:                             p.Float64(15, "value15"),
+		ValueErrorStatusWord:                  p.Int64(16, "vesw"),
+		ControlStateWord1:                     p.Int64(17, "csw1"),
+		ControlStateWord2:                     p.Int64(18, "csw2"),
+	}, p.Err()
+}

azt_test.go

@@ -0,0 +1,61 @@
+package nmea
+
+import (
+	"github.com/stretchr/testify/assert"
+	"testing"
+)
+
+var azttests = []struct {
+	name string
+	raw  string
+	err  string
+	msg  AZT
+}{
+	{
+		name: "good sentence",
+		raw:  "$IIAZT,1,45.5,90.0,50.0,60.0,75.0,30.0,40.0,80.0,70.0,70.0,3,85.0,0,0,0,12345,9876,5432*70",
+		msg: AZT{
+			ThrusterNo:                            1,
+			SteeringCommandSetValue:               45.5,
+			SteeringMeasurementActualValue:        90.0,
+			PrimeMoverCommandSetValue:             50.0,
+			PrimeMoverMeasurementActualValue:      60.0,
+			VariableSlippingClutchCommandSetValue: 75.0,
+			PitchCommandSetValue:                  30.0,
+			PitchMeasurementActualValue:           40.0,
+			PMLoadLimitSetValue:                   80.0,
+			PMLoadLimitCurrentMaxValue:            70.0,
+			PMLoadMeasurementActualValue:          70.0,
+			ActiveControlStationNumber:            3,
+			PropellerRPMMeasurementActualValue:    85.0,
+			Reserved1:                             0,
+			Reserved2:                             0,
+			Reserved3:                             0,
+			ValueErrorStatusWord:                  12345,
+			ControlStateWord1:                     9876,
+			ControlStateWord2:                     5432,
+		},
+	},
+	{
+		name: "bad validity",
+		raw:  "$IIAZT,1,45.5,90.0,50.0,60.0,75.0,30.0,40.0,80.0,70.0,70.0,3,85.0,0,0,0,12345,9876,5432*74",
+		err:  "nmea: sentence checksum mismatch [70 != 74]",
+	},
+}
+
+func TestAZT(t *testing.T) {
+	for _, tt := range azttests {
+		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)
+				azt := m.(AZT)
+				azt.BaseSentence = BaseSentence{}
+				assert.Equal(t, tt.msg, azt)
+			}
+		})
+	}
+}

mcp.go

@@ -0,0 +1,38 @@
+package nmea
+
+const (
+	// TypeMCP type for MCP sentences
+	TypeMCP = "MCP"
+)
+
+// MCP - Micropilot Joystick Controller Message
+// Format: $--MCP,x.x,f,x.x,f,x.x,f,x.x,f,x.x,f,x,i,x,i,x,i*hh<CR><LF>
+// Example: $IIMCP,50.0,%f,30.0,%f,45.0,%f,0,0,0*hh
+type MCP struct {
+	BaseSentence
+	JoystickSurgeAxisCommandSetValue float64 // Joystick surge axis (ahead - astern) command set value.
+	JoystickSwayAxisCommandSetValue  float64 // Joystick sway axis (sideways port - sideways starboard) command set value.
+	JoystickYawAxisCommandSetValue   float64 // Joystick yaw axis (rotation counter-clockwise - clockwise) command set value.
+	Reserved1                        float64 // Reserved for future use.
+	Reserved2                        float64 // Reserved for future use.
+	ValueErrorStatusWord             int64   // Value error status word for values 1...5, each bit indicates a single value error condition state either OK or ERROR.
+	ControlStateWord1                int64   // Control state word 1, each bit indicates a separate condition state either ON or OFF.
+	ControlStateWord2                int64   // Control state word 2, each bit indicates a separate condition state either ON or OFF.
+}
+
+// newMCP constructor
+func newMCP(s BaseSentence) (Sentence, error) {
+	p := NewParser(s)
+	p.AssertType(TypeMCP)
+	return MCP{
+		BaseSentence:                     s,
+		JoystickSurgeAxisCommandSetValue: p.Float64(0, "value1"),
+		JoystickSwayAxisCommandSetValue:  p.Float64(1, "value2"),
+		JoystickYawAxisCommandSetValue:   p.Float64(2, "value3"),
+		Reserved1:                        p.Float64(3, "value4"),
+		Reserved2:                        p.Float64(4, "value5"),
+		ValueErrorStatusWord:             p.Int64(5, "vesw"),
+		ControlStateWord1:                p.Int64(6, "csw1"),
+		ControlStateWord2:                p.Int64(7, "csw2"),
+	}, p.Err()
+}

mcp_test.go

@@ -0,0 +1,50 @@
+package nmea
+
+import (
+	"github.com/stretchr/testify/assert"
+	"testing"
+)
+
+var mcptests = []struct {
+	name string
+	raw  string
+	err  string
+	msg  MCP
+}{
+	{
+		name: "good sentence",
+		raw:  "$IIMCP,50.0,25.0,10.0,0,0,12345,9876,5432*72",
+		msg: MCP{
+			JoystickSurgeAxisCommandSetValue: 50.0,
+			JoystickSwayAxisCommandSetValue:  25.0,
+			JoystickYawAxisCommandSetValue:   10.0,
+			Reserved1:                        0,
+			Reserved2:                        0,
+			ValueErrorStatusWord:             12345,
+			ControlStateWord1:                9876,
+			ControlStateWord2:                5432,
+		},
+	},
+	{
+		name: "bad validity",
+		raw:  "$IIMCP,50.0,25.0,10.0,0,0,12345,9876,5432*64",
+		err:  "nmea: sentence checksum mismatch [72 != 64]",
+	},
+}
+
+func TestMCP(t *testing.T) {
+	for _, tt := range mcptests {
+		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)
+				mcp := m.(MCP)
+				mcp.BaseSentence = BaseSentence{}
+				assert.Equal(t, tt.msg, mcp)
+			}
+		})
+	}
+}

sentence.go

@@ -435,6 +435,10 @@ func (p *SentenceParser) Parse(raw string) (Sentence, error) {
 			return newXDR(s)
 		case TypeXTE:
 			return newXTE(s)
+		case TypeMCP:
+			return newMCP(s)
+		case TypeAZT:
+			return newAZT(s)
 		}
 	}
 	if s.Raw[0] == SentenceStartEncapsulated[0] {