From da791bf9f4c8bbb21cd9d7b5f039c59fc602ef86 Mon Sep 17 00:00:00 2001
From: deadprogram <ron@hybridgroup.com>
Date: Sat, 14 Jan 2023 12:32:45 +0100
Subject: [PATCH] gps: add support for GLL sentence type, add original sentence
 to gps errors

Signed-off-by: deadprogram <ron@hybridgroup.com>
---
 gps/gps.go       | 20 ++++++++++++--------
 gps/gpsparser.go | 18 +++++++++++++++++-
 2 files changed, 29 insertions(+), 9 deletions(-)

diff --git a/gps/gps.go b/gps/gps.go
index 80cdb03..21bee2e 100644
--- a/gps/gps.go
+++ b/gps/gps.go
@@ -17,22 +17,25 @@ var (
 	errUnknownNMEASentence       = errors.New("unsupported NMEA sentence type")
 	errInvalidGGASentence        = errors.New("invalid GGA NMEA sentence")
 	errInvalidRMCSentence        = errors.New("invalid RMC NMEA sentence")
+	errInvalidGLLSentence        = errors.New("invalid GLL NMEA sentence")
 )
 
 type GPSError struct {
-	Info string
-	Err  error
+	Err      error
+	Info     string
+	Sentence string
 }
 
-func newGPSError(err error, info string) GPSError {
+func newGPSError(err error, sentence string, info string) GPSError {
 	return GPSError{
-		Info: info,
-		Err:  err,
+		Info:     info,
+		Err:      err,
+		Sentence: sentence,
 	}
 }
 
 func (ge GPSError) Error() string {
-	return ge.Err.Error() + " " + ge.Info
+	return ge.Err.Error() + " " + ge.Info + " " + ge.Sentence
 }
 
 // Device wraps a connection to a GPS device.
@@ -156,8 +159,9 @@ func validSentence(sentence string) error {
 	}
 	checksum := strings.ToUpper(hex.EncodeToString([]byte{cs}))
 	if checksum != sentence[len(sentence)-2:len(sentence)] {
-		return newGPSError(errInvalidNMEAChecksum, "expected "+sentence[len(sentence)-2:len(sentence)]+
-			" got "+checksum)
+		return newGPSError(errInvalidNMEAChecksum, sentence,
+			"expected "+sentence[len(sentence)-2:len(sentence)]+
+				" got "+checksum)
 	}
 
 	return nil
diff --git a/gps/gpsparser.go b/gps/gpsparser.go
index 77abacc..d0232f6 100644
--- a/gps/gpsparser.go
+++ b/gps/gpsparser.go
@@ -54,6 +54,7 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
 	typ := sentence[3:6]
 	switch typ {
 	case "GGA":
+		// https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm
 		fields := strings.Split(sentence, ",")
 		if len(fields) != 15 {
 			return fix, errInvalidGGASentence
@@ -66,8 +67,23 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
 		fix.Time = findTime(fields[1])
 		fix.Valid = (fix.Altitude != -99999) && (fix.Satellites > 0)
 
+		return fix, nil
+	case "GLL":
+		// https://docs.novatel.com/OEM7/Content/Logs/GPGLL.htm
+		fields := strings.Split(sentence, ",")
+		if len(fields) != 8 {
+			return fix, errInvalidGLLSentence
+		}
+
+		fix.Latitude = findLatitude(fields[2], fields[3])
+		fix.Longitude = findLongitude(fields[4], fields[5])
+		fix.Time = findTime(fields[6])
+
+		fix.Valid = (fields[7] == "A")
+
 		return fix, nil
 	case "RMC":
+		// https://docs.novatel.com/OEM7/Content/Logs/GPRMC.htm
 		fields := strings.Split(sentence, ",")
 		if len(fields) != 13 {
 			return fix, errInvalidRMCSentence
@@ -83,7 +99,7 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
 		return fix, nil
 	}
 
-	return fix, newGPSError(errUnknownNMEASentence, typ)
+	return fix, newGPSError(errUnknownNMEASentence, sentence, typ)
 }
 
 // findTime returns the time from an NMEA sentence: