From 7b0ef1f405088652e5a21fa04f2ff435a4da5664 Mon Sep 17 00:00:00 2001
From: Tobias Bieniek <tobias@bieniek.cloud>
Date: Thu, 6 Oct 2022 21:04:04 +0200
Subject: [PATCH] Implement `PGRMZ` support
---
src/error.rs | 7 +++
src/parse.rs | 2 +
src/parser.rs | 18 ++++++--
src/sentences/mod.rs | 2 +
src/sentences/rmz.rs | 102 +++++++++++++++++++++++++++++++++++++++++++
5 files changed, 128 insertions(+), 3 deletions(-)
create mode 100644 src/sentences/rmz.rs
diff --git a/src/error.rs b/src/error.rs
index df3e961..a86cecb 100644
--- a/src/error.rs
+++ b/src/error.rs
@@ -30,6 +30,8 @@ pub enum Error<'a> {
EmptyNavConfig,
/// Invalid sentence number field in nmea sentence of type GSV
InvalidGsvSentenceNum,
+ /// An unknown talker ID was found in the NMEA message.
+ UnknownTalkerId { expected: &'a str, found: &'a str },
}
impl<'a> From<nom::Err<nom::error::Error<&'a str>>> for Error<'a> {
@@ -81,6 +83,11 @@ impl<'a> fmt::Display for Error<'a> {
f,
"Invalid senetence number field in nmea sentence of type GSV"
),
+ Error::UnknownTalkerId { expected, found } => write!(
+ f,
+ "Unknown Talker ID (expected = '{}', found = '{}')",
+ expected, found
+ ),
}
}
}
diff --git a/src/parse.rs b/src/parse.rs
index 6acb450..4cbf0dc 100644
--- a/src/parse.rs
+++ b/src/parse.rs
@@ -108,6 +108,7 @@ pub enum ParseResult {
RMC(RmcData),
TXT(TxtData),
VTG(VtgData),
+ PGRMZ(PgrmzData),
/// A message that is not supported by the crate and cannot be parsed.
Unsupported(SentenceType),
}
@@ -152,6 +153,7 @@ pub fn parse_str(sentence_input: &str) -> Result<ParseResult, Error> {
SentenceType::GLL => parse_gll(nmea_sentence).map(ParseResult::GLL),
SentenceType::TXT => parse_txt(nmea_sentence).map(ParseResult::TXT),
SentenceType::GNS => parse_gns(nmea_sentence).map(ParseResult::GNS),
+ SentenceType::RMZ => parse_pgrmz(nmea_sentence).map(ParseResult::PGRMZ),
sentence_type => Ok(ParseResult::Unsupported(sentence_type)),
}
} else {
diff --git a/src/parser.rs b/src/parser.rs
index 3e6c70a..b6bdca8 100644
--- a/src/parser.rs
+++ b/src/parser.rs
@@ -353,9 +353,11 @@ impl<'a> Nmea {
self.merge_txt_data(txt_data);
return Ok(FixType::Invalid);
}
- ParseResult::BWC(_) | ParseResult::BOD(_) | ParseResult::GBS(_) => {
- return Ok(FixType::Invalid)
- }
+ ParseResult::BWC(_)
+ | ParseResult::BOD(_)
+ | ParseResult::GBS(_)
+ | ParseResult::PGRMZ(_) => return Ok(FixType::Invalid),
+
ParseResult::Unsupported(_) => {
return Ok(FixType::Invalid);
}
@@ -679,6 +681,10 @@ define_sentence_type_enum! {
/// - [`SentenceType::ZDA`]
/// - [`SentenceType::ZFO`]
/// - [`SentenceType::ZTG`]
+ ///
+ /// ### Vendor extensions
+ ///
+ /// - [`SentenceType::RMZ`]
#[derive(Debug, Hash, PartialEq, Eq, Clone, Copy)]
#[repr(u32)]
#[allow(rustdoc::bare_urls)]
@@ -971,6 +977,12 @@ define_sentence_type_enum! {
///
/// Type: `Navigation`
RMC,
+ /// PGRMZ - Garmin Altitude
+ ///
+ /// <https://gpsd.gitlab.io/gpsd/NMEA.html#_pgrmz_garmin_altitude>
+ ///
+ /// Type: `Vendor extensions`
+ RMZ,
/// ROT - Rate Of Turn
///
/// <https://gpsd.gitlab.io/gpsd/NMEA.html#_rot_rate_of_turn>
diff --git a/src/sentences/mod.rs b/src/sentences/mod.rs
index e2ce52b..3acee99 100644
--- a/src/sentences/mod.rs
+++ b/src/sentences/mod.rs
@@ -9,6 +9,7 @@ mod gns;
mod gsa;
mod gsv;
mod rmc;
+mod rmz;
mod txt;
mod utils;
mod vtg;
@@ -30,6 +31,7 @@ pub use {
gsa::{parse_gsa, GsaData},
gsv::{parse_gsv, GsvData},
rmc::{parse_rmc, RmcData, RmcStatusOfFix},
+ rmz::{parse_pgrmz, PgrmzData},
txt::{parse_txt, TxtData},
vtg::{parse_vtg, VtgData},
};
diff --git a/src/sentences/rmz.rs b/src/sentences/rmz.rs
new file mode 100644
index 0000000..76bfebe
--- /dev/null
+++ b/src/sentences/rmz.rs
@@ -0,0 +1,102 @@
+use nom::{
+ character::complete::{char, one_of},
+ IResult,
+};
+
+use crate::sentences::utils::number;
+use crate::{parse::NmeaSentence, Error, SentenceType};
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum PgrmzFixType {
+ NoFix,
+ TwoDimensional,
+ ThreeDimensional,
+}
+
+/// PGRMZ - Garmin Altitude
+///
+/// <https://gpsd.gitlab.io/gpsd/NMEA.html#_pgrmz_garmin_altitude>
+///
+/// ```text
+/// 1 2 3 4
+/// | | | |
+/// $PGRMZ,hhh,f,M*hh<CR><LF>
+/// ```
+///
+/// 1. Current Altitude Feet
+/// 2. `f` = feet
+/// 3. Mode (`1` = no fix, `2` = 2D fix, `3` = 3D fix)
+/// 4. Checksum
+///
+/// Example: `$PGRMZ,2282,f,3*21`
+#[derive(Debug, Clone, Copy, PartialEq)]
+pub struct PgrmzData {
+ /// Current altitude in feet
+ pub altitude: u32,
+ pub fix_type: PgrmzFixType,
+}
+
+fn do_parse_pgrmz(i: &str) -> IResult<&str, PgrmzData> {
+ let (i, altitude) = number::<u32>(i)?;
+ let (i, _) = char(',')(i)?;
+ let (i, _) = char('f')(i)?;
+ let (i, _) = char(',')(i)?;
+ let (i, fix_type) = one_of("123")(i)?;
+ let fix_type = match fix_type {
+ '1' => PgrmzFixType::NoFix,
+ '2' => PgrmzFixType::TwoDimensional,
+ '3' => PgrmzFixType::ThreeDimensional,
+ _ => unreachable!(),
+ };
+ Ok((i, PgrmzData { altitude, fix_type }))
+}
+
+/// # Parse PGRMZ message
+///
+/// Example:
+///
+/// `$PGRMZ,2282,f,3*21`
+pub fn parse_pgrmz(sentence: NmeaSentence) -> Result<PgrmzData, Error> {
+ if sentence.message_id != SentenceType::RMZ {
+ Err(Error::WrongSentenceHeader {
+ expected: SentenceType::RMZ,
+ found: sentence.message_id,
+ })
+ } else if sentence.talker_id != "PG" {
+ Err(Error::UnknownTalkerId {
+ expected: "PG",
+ found: sentence.talker_id,
+ })
+ } else {
+ Ok(do_parse_pgrmz(sentence.data)?.1)
+ }
+}
+
+#[cfg(test)]
+mod tests {
+ use super::*;
+ use crate::parse::parse_nmea_sentence;
+
+ #[test]
+ fn test_successful_parse() {
+ let s = parse_nmea_sentence("$PGRMZ,2282,f,3*21").unwrap();
+ assert_eq!(s.checksum, s.calc_checksum());
+ assert_eq!(s.checksum, 0x21);
+
+ let data = parse_pgrmz(s).unwrap();
+ assert_eq!(data.altitude, 2282);
+ assert_eq!(data.fix_type, PgrmzFixType::ThreeDimensional);
+ }
+
+ #[test]
+ fn test_wrong_talker_id() {
+ let s = parse_nmea_sentence("$XXRMZ,2282,f,3*21").unwrap();
+ assert!(matches!(
+ parse_pgrmz(s),
+ Err(Error::UnknownTalkerId {
+ expected: "PG",
+ found: "XX"
+ })
+ ));
+ }
+}