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gps: add support for GLL sentence type, add original sentence to gps errors

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Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram
2023-01-14 12:32:45 +01:00
parent c1637d0b79
commit da791bf9f4
2 changed files with 29 additions and 9 deletions
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gps/gps.go
+12 -8
View File
@@ -17,22 +17,25 @@ var (
errUnknownNMEASentence = errors.New("unsupported NMEA sentence type") errUnknownNMEASentence = errors.New("unsupported NMEA sentence type")
errInvalidGGASentence = errors.New("invalid GGA NMEA sentence") errInvalidGGASentence = errors.New("invalid GGA NMEA sentence")
errInvalidRMCSentence = errors.New("invalid RMC NMEA sentence") errInvalidRMCSentence = errors.New("invalid RMC NMEA sentence")
errInvalidGLLSentence = errors.New("invalid GLL NMEA sentence")
) )
type GPSError struct { 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{ return GPSError{
Info: info, Info: info,
Err: err, Err: err,
Sentence: sentence,
} }
} }
func (ge GPSError) Error() string { 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. // Device wraps a connection to a GPS device.
@@ -156,8 +159,9 @@ func validSentence(sentence string) error {
} }
checksum := strings.ToUpper(hex.EncodeToString([]byte{cs})) checksum := strings.ToUpper(hex.EncodeToString([]byte{cs}))
if checksum != sentence[len(sentence)-2:len(sentence)] { if checksum != sentence[len(sentence)-2:len(sentence)] {
return newGPSError(errInvalidNMEAChecksum, "expected "+sentence[len(sentence)-2:len(sentence)]+ return newGPSError(errInvalidNMEAChecksum, sentence,
" got "+checksum) "expected "+sentence[len(sentence)-2:len(sentence)]+
" got "+checksum)
} }
return nil return nil
gps/gpsparser.go
+17 -1
View File
@@ -54,6 +54,7 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
typ := sentence[3:6] typ := sentence[3:6]
switch typ { switch typ {
case "GGA": case "GGA":
// https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm
fields := strings.Split(sentence, ",") fields := strings.Split(sentence, ",")
if len(fields) != 15 { if len(fields) != 15 {
return fix, errInvalidGGASentence return fix, errInvalidGGASentence
@@ -66,8 +67,23 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
fix.Time = findTime(fields[1]) fix.Time = findTime(fields[1])
fix.Valid = (fix.Altitude != -99999) && (fix.Satellites > 0) 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 return fix, nil
case "RMC": case "RMC":
// https://docs.novatel.com/OEM7/Content/Logs/GPRMC.htm
fields := strings.Split(sentence, ",") fields := strings.Split(sentence, ",")
if len(fields) != 13 { if len(fields) != 13 {
return fix, errInvalidRMCSentence return fix, errInvalidRMCSentence
@@ -83,7 +99,7 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
return fix, nil return fix, nil
} }
return fix, newGPSError(errUnknownNMEASentence, typ) return fix, newGPSError(errUnknownNMEASentence, sentence, typ)
} }
// findTime returns the time from an NMEA sentence: // findTime returns the time from an NMEA sentence: