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#![no_std]
#![warn(missing_docs)]
//! NMEA 0183 parser. Implemented most used sentences like RMC, VTG, GGA, GLL.
//! Parser do not use heap memory and relies only on `core`.
//!
//! You should instantiate [Parser](struct.Parser.html) with [new](struct.Parser.html#method.new) and than use methods like [parse_from_byte](struct.Parser.html#method.parse_from_bytes) or [parse_from_bytes](struct.Parser.html#method.parse_from_bytes).
//! If parser accumulates enough data it will return [ParseResult](enum.ParseResult.html) on success or `&str` that describing an error.
//!
//! You do not need to do any preprocessing such as split data to strings or NMEA sentences.
//!
//! # Examples
//!
//! If you could read a one byte at a time from the receiver you may use `parse_from_byte`:
//! ```rust
//! use nmea0183::{Parser, ParseResult};
//!
//! let nmea = b"$GPGGA,145659.00,5956.695396,N,03022.454999,E,2,07,0.6,9.0,M,18.0,M,,*62\r\n$GPGGA,,,,,,,,,,,,,,*00\r\n";
//! let mut parser = Parser::new();
//! for b in &nmea[..] {
//! if let Some(result) = parser.parse_from_byte(*b) {
//! match result {
//! Ok(ParseResult::GGA(Some(gga))) => { }, // Got GGA sentence
//! Ok(ParseResult::GGA(None)) => { }, // Got GGA sentence without valid data, receiver ok but has no solution
//! Ok(_) => {}, // Some other sentences..
//! Err(e) => { } // Got parse error
//! }
//! }
//! }
//! ```
//!
//! If you read many bytes from receiver at once or want to parse NMEA log from text file you could use Iterator-style:
//! ```rust
//! use nmea0183::{Parser, ParseResult};
//!
//! let nmea = b"$GPGGA,,,,,,,,,,,,,,*00\r\n$GPRMC,125504.049,A,5542.2389,N,03741.6063,E,0.06,25.82,200906,,,A*56\r\n";
//! let mut parser = Parser::new();
//!
//! for result in parser.parse_from_bytes(&nmea[..]) {
//! match result {
//! Ok(ParseResult::RMC(Some(rmc))) => { }, // Got RMC sentence
//! Ok(ParseResult::GGA(None)) => { }, // Got GGA sentence without valid data, receiver ok but has no solution
//! Ok(_) => {}, // Some other sentences..
//! Err(e) => { } // Got parse error
//! }
//! }
//!
//! ```
//!
//! It is possible to ignore some sentences or sources. You can set filter on [Parser](struct.Parser.html) like so:
//! ```rust
//! use nmea0183::{Parser, ParseResult, Sentence, Source};
//!
//! let parser_only_gps_gallileo = Parser::new()
//! .source_filter(Source::GPS | Source::Gallileo);
//! let parser_only_rmc_gga_gps = Parser::new()
//! .source_only(Source::GPS)
//! .sentence_filter(Sentence::RMC | Sentence::GGA);
//! ```
//!
//! # Panics
//!
//! Should not panic. If so please report issue on project page.
//!
//! # Errors
//!
//! `Unsupported sentence type.` - Got currently not supported sentence.
//!
//! `Checksum error!` - Sentence has wrong checksum, possible data corruption.
//!
//! `Source is not supported!` - Unknown source, new sattelite system is launched? :)
//!
//! `NMEA format error!` - Possible data corruption. Parser drops all accumulated data and starts seek new sentences.
//!
//! It's possible to got other very rare error messages that relates to protocol errors. Receivers nowadays mostly do not violate NMEA specs.
//!
//! # Planned features
//!
//! GSA and GSV parsing.
//!
use core::convert::TryFrom;
use core::ops::BitOr;
use core::slice::Iter;
pub(crate) mod common;
pub mod coords;
pub mod datetime;
pub mod satellite;
pub(crate) mod gga;
pub(crate) mod gsa;
pub(crate) mod gsv;
pub(crate) mod gll;
pub(crate) mod modes;
#[cfg(feature = "mtk")]
pub(crate) mod mtk;
pub(crate) mod rmc;
pub(crate) mod vtg;
pub use gga::GPSQuality;
pub use gga::GGA;
pub use gll::GLL;
pub use gsa::FixType;
pub use gsa::GSA;
pub use gsv::GSV;
pub use modes::Mode;
#[cfg(feature = "mtk")]
pub use mtk::JammingStatus;
#[cfg(feature = "mtk")]
pub use mtk::MTKPacketType;
#[cfg(feature = "mtk")]
pub use mtk::PMTKSPF;
pub use rmc::RMC;
pub use vtg::VTG;
/// Source of NMEA sentence like GPS, GLONASS or other.
#[derive(Debug, Copy, Clone, PartialEq)]
pub enum Source {
/// USA Global Positioning System
GPS = 0b1,
/// Russian Federation GLONASS
GLONASS = 0b10,
/// European Union Gallileo
Gallileo = 0b100,
/// China's Beidou
Beidou = 0b1000,
/// Global Navigation Sattelite System. Some combination of other systems. Depends on receiver model, receiver settings, etc..
GNSS = 0b10000,
#[cfg(feature = "mtk")]
/// MediaTek NMEA packet protocol
MTK = 0b100000,
}
/// Mask for Source filter in Parser.
pub struct SourceMask {
mask: u32,
}
impl SourceMask {
fn is_masked(&self, source: Source) -> bool {
source as u32 & self.mask == 0
}
}
impl Default for SourceMask {
fn default() -> Self {
SourceMask {
mask: u32::max_value(),
}
}
}
impl BitOr for Source {
type Output = SourceMask;
fn bitor(self, rhs: Self) -> Self::Output {
SourceMask {
mask: self as u32 | rhs as u32,
}
}
}
impl BitOr<Source> for SourceMask {
type Output = Self;
fn bitor(self, rhs: Source) -> Self {
SourceMask {
mask: self.mask | rhs as u32,
}
}
}
impl TryFrom<&str> for Source {
type Error = &'static str;
fn try_from(from: &str) -> Result<Self, Self::Error> {
match &from[0..2] {
"GP" => Ok(Source::GPS),
"GL" => Ok(Source::GLONASS),
"GA" => Ok(Source::Gallileo),
"BD" => Ok(Source::Beidou),
"GN" => Ok(Source::GNSS),
#[cfg(feature = "mtk")]
"PM" => Ok(Source::MTK),
_ => Err("Source is not supported!"),
}
}
}
/// Various kinds of NMEA sentence like RMC, VTG or other. Used for filter by sentence type in Parser.
#[derive(Debug, Copy, Clone)]
pub enum Sentence {
/// Recommended minimum sentence.
RMC = 0b1,
/// Course over ground.
VTG = 0b10,
/// Geographic coordinates including altitude, GPS solution quality, DGPS usage information.
GGA = 0b100,
/// Geographic latitude ang longitude sentence with time of fix and receiver state.
GLL = 0b1000,
#[cfg(feature = "mtk")]
/// MTK properitary messages.
PMTK = 0b10000,
/// Satellites in views.
GSV = 0b100000,
/// GPS DOP and active satellites.
GSA = 0b1000000,
}
impl TryFrom<&str> for Sentence {
type Error = &'static str;
fn try_from(from: &str) -> Result<Self, Self::Error> {
match from {
"RMC" => Ok(Sentence::RMC),
"GGA" => Ok(Sentence::GGA),
"GLL" => Ok(Sentence::GLL),
"VTG" => Ok(Sentence::VTG),
"GSV" => Ok(Sentence::GSV),
#[cfg(feature = "mtk")]
"PMTK" => Ok(Sentence::PMTK),
"GSA" => Ok(Sentence::GSA),
_ => Err("Unsupported sentence type."),
}
}
}
/// Mask for Sentence filter in Parser.
pub struct SentenceMask {
mask: u32,
}
impl SentenceMask {
fn is_masked(&self, sentence: Sentence) -> bool {
sentence as u32 & self.mask == 0
}
}
impl Default for SentenceMask {
fn default() -> Self {
SentenceMask {
mask: u32::max_value(),
}
}
}
impl BitOr for Sentence {
type Output = SentenceMask;
fn bitor(self, rhs: Self) -> Self::Output {
SentenceMask {
mask: self as u32 | rhs as u32,
}
}
}
impl BitOr<Sentence> for SentenceMask {
type Output = Self;
fn bitor(self, rhs: Sentence) -> Self {
SentenceMask {
mask: self.mask | rhs as u32,
}
}
}
/// The NMEA sentence parsing result.
/// Sentences with many null fields or sentences without valid data is also parsed and returned as None.
/// None ParseResult may be interpreted as working receiver but without valid data.
#[derive(Debug, PartialEq, Clone)]
pub enum ParseResult {
/// The Recommended Minimum Sentence for any GNSS. Typically most used.
RMC(Option<RMC>),
/// The Geographic coordinates including altitude, GPS solution quality, DGPS usage information.
GGA(Option<GGA>),
/// The Geographic latitude ang longitude sentence with time of fix and the receiver state.
GLL(Option<GLL>),
/// The actual course and speed relative to the ground.
VTG(Option<VTG>),
/// The satellites in views including the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values.
GSV(Option<GSV>),
#[cfg(feature = "mtk")]
/// The MTK properitary messages.
PMTK(Option<PMTKSPF>),
/// The GPS DOP and active satellites. Provides information about the DOP and the active satellites used for the current fix.
GSA(Option<GSA>),
}
/// Parses NMEA sentences and stores intermediate parsing state.
/// Parser is tolerant for errors so you should not reinitialize it after errors.
pub struct Parser {
buffer: [u8; 79],
buflen: usize,
chksum: u8,
expected_chksum: u8,
parser_state: ParserState,
source_mask: SourceMask,
sentence_mask: SentenceMask,
}
#[derive(Debug)]
enum ParserState {
WaitStart,
ReadUntilChkSum,
ChkSumUpper,
ChkSumLower,
WaitCR,
WaitLF,
}
struct ParserIterator<'a> {
parser: &'a mut Parser,
input: Iter<'a, u8>,
}
impl ParserIterator<'_> {
fn new<'a>(p: &'a mut Parser, inp: &'a [u8]) -> ParserIterator<'a> {
ParserIterator {
parser: p,
input: inp.iter(),
}
}
}
impl Iterator for ParserIterator<'_> {
type Item = Result<ParseResult, &'static str>;
fn next(&mut self) -> Option<Self::Item> {
while let Some(b) = self.input.next() {
let symbol = *b;
if let Some(r) = self.parser.parse_from_byte(symbol) {
return Some(r);
}
}
None
}
}
impl Parser {
/// Constructs new Parser.
pub fn new() -> Parser {
Parser {
buffer: [0u8; 79],
buflen: 0,
chksum: 0,
expected_chksum: 0,
parser_state: ParserState::WaitStart,
source_mask: Default::default(),
sentence_mask: Default::default(),
}
}
/// Accepts only that [source](enum.Source.html)
pub fn source_only(mut self, source: Source) -> Self {
self.source_mask = SourceMask {
mask: source as u32,
};
self
}
/// Ignore all [sources](enum.Source.html) except given.
pub fn source_filter(mut self, source_mask: SourceMask) -> Self {
self.source_mask = source_mask;
self
}
/// Accepts only that [sentence](enum.Sentence.html)
pub fn sentence_only(mut self, sentence: Sentence) -> Self {
self.sentence_mask = SentenceMask {
mask: sentence as u32,
};
self
}
/// Ignore all [sentences](enum.Sentence.html) except given.
pub fn sentence_filter(mut self, sentence_mask: SentenceMask) -> Self {
self.sentence_mask = sentence_mask;
self
}
/// Use parser state and bytes slice than returns Iterator that yield [ParseResult](enum.ParseResult.html) or errors if has enough data for parsing.
pub fn parse_from_bytes<'a>(
&'a mut self,
input: &'a [u8],
) -> impl Iterator<Item = Result<ParseResult, &'static str>> + 'a {
ParserIterator::new(self, input)
}
/// Parse NMEA by one byte at a time. Returns Some if has enough data for parsing.
pub fn parse_from_byte(&mut self, symbol: u8) -> Option<Result<ParseResult, &'static str>> {
let (new_state, result) = match self.parser_state {
ParserState::WaitStart if symbol == b'$' => {
self.buflen = 0;
self.chksum = 0;
(ParserState::ReadUntilChkSum, None)
}
ParserState::WaitStart if symbol != b'$' => (ParserState::WaitStart, None),
ParserState::ReadUntilChkSum if symbol != b'*' => {
if self.buffer.len() <= self.buflen {
(
ParserState::WaitStart,
Some(Err("NMEA sentence is too long!")),
)
} else {
self.buffer[self.buflen] = symbol;
self.buflen += 1;
self.chksum = self.chksum ^ symbol;
(ParserState::ReadUntilChkSum, None)
}
}
ParserState::ReadUntilChkSum if symbol == b'*' => (ParserState::ChkSumUpper, None),
ParserState::ChkSumUpper => match parse_hex_halfbyte(symbol) {
Ok(s) => {
self.expected_chksum = s;
(ParserState::ChkSumLower, None)
}
Err(e) => (ParserState::WaitStart, Some(Err(e))),
},
ParserState::ChkSumLower => match parse_hex_halfbyte(symbol) {
Ok(s) => {
if ((self.expected_chksum << 4) | s) != self.chksum {
(ParserState::WaitStart, Some(Err("Checksum error!")))
} else {
(ParserState::WaitCR, None)
}
}
Err(e) => (ParserState::WaitStart, Some(Err(e))),
},
ParserState::WaitCR if symbol == b'\r' => (ParserState::WaitLF, None),
ParserState::WaitLF if symbol == b'\n' => {
(ParserState::WaitStart, self.parse_sentence().transpose())
}
_ => (ParserState::WaitStart, Some(Err("NMEA format error!"))),
};
self.parser_state = new_state;
return result;
}
fn parse_sentence(&self) -> Result<Option<ParseResult>, &'static str> {
let input = from_ascii(&self.buffer[..self.buflen])?;
let mut iter = input.split(',');
let sentence_field = iter
.next()
.ok_or("Sentence type not found but mandatory!")?;
if sentence_field.len() < 5 {
return Err("Sentence field is too small. Must be 5 chars at least!");
}
let source = Source::try_from(sentence_field)?;
if self.source_mask.is_masked(source) {
return Ok(None);
}
let sentence = match source {
#[cfg(feature = "mtk")]
Source::MTK => Sentence::try_from(&sentence_field[0..4])?,
_ => Sentence::try_from(&sentence_field[2..5])?,
};
if self.sentence_mask.is_masked(sentence) {
return Ok(None);
}
match sentence {
Sentence::RMC => Ok(Some(ParseResult::RMC(RMC::parse(source, &mut iter)?))),
Sentence::GGA => Ok(Some(ParseResult::GGA(GGA::parse(source, &mut iter)?))),
Sentence::GLL => Ok(Some(ParseResult::GLL(GLL::parse(source, &mut iter)?))),
Sentence::VTG => Ok(Some(ParseResult::VTG(VTG::parse(source, &mut iter)?))),
Sentence::GSV => Ok(Some(ParseResult::GSV(GSV::parse(source, &mut iter)?))),
Sentence::GSA => Ok(Some(ParseResult::GSA(GSA::parse(source, &mut iter)?))),
#[cfg(feature = "mtk")]
Sentence::PMTK => {
if sentence_field.len() < 7 {
return Err("PMTK Sentence field is too small. Must be 7 chars at least!");
}
match MTKPacketType::try_from(&sentence_field[4..7])? {
MTKPacketType::SPF => {
Ok(Some(ParseResult::PMTK(PMTKSPF::parse(source, &mut iter)?)))
}
}
}
}
}
}
fn from_ascii(bytes: &[u8]) -> Result<&str, &'static str> {
if bytes.iter().all(|b| *b < 128) {
Ok(unsafe { core::str::from_utf8_unchecked(bytes) })
} else {
Err("Not an ascii!")
}
}
fn parse_hex_halfbyte(symbol: u8) -> Result<u8, &'static str> {
if symbol >= b'0' && symbol <= b'9' {
return Ok(symbol - b'0');
}
if symbol >= b'A' && symbol <= b'F' {
return Ok(symbol - b'A' + 10);
}
Err("Invalid HEX character.")
}
#[test]
fn test_source_bitor() {
let s = Source::GLONASS | Source::GPS | Source::Beidou;
assert!(s.mask == (Source::GLONASS as u32 | Source::GPS as u32 | Source::Beidou as u32));
}
#[test]
fn test_sentence_bitor() {
let s = Sentence::RMC | Sentence::VTG | Sentence::GGA;
assert!(s.mask == (Sentence::RMC as u32 | Sentence::VTG as u32 | Sentence::GGA as u32));
}
#[test]
fn test_create_filtered_parser() {
let _parser = Parser::new()
.source_filter(Source::GPS | Source::GLONASS)
.sentence_filter(Sentence::RMC | Sentence::GLL);
let _parser = Parser::new()
.source_only(Source::GPS)
.sentence_only(Sentence::RMC);
}