nmea-kit 0.4.0

Bidirectional NMEA 0183 parser and encoder with AIS decoding
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100

use crate::nmea::field::{FieldReader, FieldWriter, NmeaEncodable};

/// RSA — Rudder Sensor Angle.
///
/// Wire: `stbdangle,stbdstatus,portangle,portstatus`
#[derive(Debug, Clone, PartialEq)]
pub struct Rsa {
    /// Starboard (or single) rudder angle in degrees (negative = port).
    pub starboard_angle: Option<f32>,
    /// Starboard rudder status ('A' = valid, 'V' = invalid).
    pub starboard_status: Option<char>,
    /// Port rudder angle in degrees (negative = port).
    pub port_angle: Option<f32>,
    /// Port rudder status ('A' = valid, 'V' = invalid).
    pub port_status: Option<char>,
}

impl Rsa {
    /// Parse fields from a decoded NMEA frame.
    /// Always returns `Some`; missing or malformed fields become `None`.
    pub fn parse(fields: &[&str]) -> Option<Self> {
        let mut r = FieldReader::new(fields);
        Some(Self {
            starboard_angle: r.f32(),
            starboard_status: r.char(),
            port_angle: r.f32(),
            port_status: r.char(),
        })
    }
}

impl NmeaEncodable for Rsa {
    const SENTENCE_TYPE: &str = "RSA";

    fn encode(&self) -> Vec<String> {
        let mut w = FieldWriter::new();
        w.f32(self.starboard_angle);
        w.char(self.starboard_status);
        w.f32(self.port_angle);
        w.char(self.port_status);
        w.finish()
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::parse_frame;

    #[test]
    fn rsa_dual_rudder_gonmea() {
        let frame = parse_frame("$IIRSA,10.5,A,0.4,A*70").expect("valid go-nmea RSA frame");
        let rsa = Rsa::parse(&frame.fields).expect("parse RSA");
        assert!((rsa.starboard_angle.expect("stbd") - 10.5).abs() < 0.1);
        assert_eq!(rsa.starboard_status, Some('A'));
        assert!((rsa.port_angle.expect("port") - 0.4).abs() < 0.1);
        assert_eq!(rsa.port_status, Some('A'));
    }

    #[test]
    fn rsa_empty() {
        let f = Rsa {
            starboard_angle: None,
            starboard_status: None,
            port_angle: None,
            port_status: None,
        }
        .to_sentence("II");
        let frame = parse_frame(f.trim()).expect("valid");
        let r = Rsa::parse(&frame.fields).expect("parse");
        assert!(r.starboard_angle.is_none());
        assert!(r.starboard_status.is_none());
        assert!(r.port_angle.is_none());
        assert!(r.port_status.is_none());
    }

    #[test]
    fn rsa_encode_roundtrip() {
        let original = Rsa {
            starboard_angle: Some(10.5),
            starboard_status: Some('A'),
            port_angle: Some(-5.2),
            port_status: Some('A'),
        };
        let sentence = original.to_sentence("II");
        let frame = parse_frame(sentence.trim()).expect("re-parse");
        let parsed = Rsa::parse(&frame.fields).expect("re-parse RSA");
        assert_eq!(original, parsed);
    }

    #[test]
    fn rsa_starboard_only() {
        let frame = parse_frame("$IIRSA,10.5,A,,V*4D").expect("valid RSA frame");
        let rsa = Rsa::parse(&frame.fields).expect("parse RSA");
        assert!((rsa.starboard_angle.expect("stbd") - 10.5).abs() < 0.1);
        assert_eq!(rsa.starboard_status, Some('A'));
        assert!(rsa.port_angle.is_none());
        assert_eq!(rsa.port_status, Some('V'));
    }
}