nmea_parser/gnss/
gsa.rs

1/*
2Copyright 2020 Timo Saarinen
3
4Licensed under the Apache License, Version 2.0 (the "License");
5you may not use this file except in compliance with the License.
6You may obtain a copy of the License at
7
8    http://www.apache.org/licenses/LICENSE-2.0
9
10Unless required by applicable law or agreed to in writing, software
11distributed under the License is distributed on an "AS IS" BASIS,
12WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13See the License for the specific language governing permissions and
14limitations under the License.
15*/
16use super::*;
17/// GSA - GNSS dilution of position (DOP) and active satellites
18#[derive(Clone, Debug, PartialEq, Serialize)]
19pub struct GsaData {
20    /// Navigation system
21    pub source: NavigationSystem,
22
23    /// Mode 1: true = automatic, false = manual
24    pub mode1_automatic: Option<bool>,
25
26    /// Mode 2, fix type:
27    pub mode2_3d: Option<GsaFixMode>,
28
29    /// PRN numbers used (space for 12)
30    pub prn_numbers: Vec<u8>,
31
32    /// Position (3D) dilution of precision
33    pub pdop: Option<f64>,
34
35    /// Horizontal dilution of precision
36    pub hdop: Option<f64>,
37
38    /// Vertical dilution of precision
39    pub vdop: Option<f64>,
40}
41
42/// GSA position fix type
43#[derive(Clone, Copy, Debug, PartialEq, Serialize)]
44pub enum GsaFixMode {
45    /// No fix.
46    NotAvailable,
47
48    /// 2D fix.
49    Fix2D,
50
51    /// 3d fix.
52    Fix3D,
53}
54
55impl core::fmt::Display for GsaFixMode {
56    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
57        match self {
58            GsaFixMode::NotAvailable => write!(f, "no available"),
59            GsaFixMode::Fix2D => write!(f, "2D fix"),
60            GsaFixMode::Fix3D => write!(f, "3D fix"),
61        }
62    }
63}
64
65// -------------------------------------------------------------------------------------------------
66
67/// xxGSA: GPS DOP and active satellites
68pub(crate) fn handle(
69    sentence: &str,
70    nav_system: NavigationSystem,
71) -> Result<ParsedMessage, ParseError> {
72    let split: Vec<&str> = sentence.split(',').collect();
73
74    Ok(ParsedMessage::Gsa(GsaData {
75        source: nav_system,
76        mode1_automatic: {
77            let s = split.get(1).unwrap_or(&"");
78            match *s {
79                "M" => Some(false),
80                "A" => Some(true),
81                "" => None,
82                _ => {
83                    return Err(format!("Invalid GPGSA mode: {}", s).into());
84                }
85            }
86        },
87        mode2_3d: {
88            let s = split.get(2).unwrap_or(&"");
89            match *s {
90                "1" => Some(GsaFixMode::NotAvailable),
91                "2" => Some(GsaFixMode::Fix2D),
92                "3" => Some(GsaFixMode::Fix3D),
93                "" => None,
94                _ => {
95                    return Err(format!("Invalid GPGSA fix type: {}", s).into());
96                }
97            }
98        },
99        prn_numbers: {
100            let mut v = Vec::with_capacity(12);
101            for i in 3..15 {
102                if split.get(i).unwrap_or(&"") != &"" {
103                    if let Some(val) = pick_number_field(&split, i)? {
104                        v.push(val);
105                    }
106                }
107            }
108            v
109        },
110        pdop: pick_number_field(&split, 15)?,
111        hdop: pick_number_field(&split, 16)?,
112        vdop: pick_number_field(&split, 17)?,
113    }))
114}
115
116// -------------------------------------------------------------------------------------------------
117
118#[cfg(test)]
119mod test {
120    use super::*;
121
122    #[test]
123    fn test_parse_gpgsa() {
124        let mut p = NmeaParser::new();
125        match p.parse_sentence("$GPGSA,A,3,19,28,14,18,27,22,31,39,,,,,1.7,1.0,1.3*34") {
126            Ok(ps) => {
127                match ps {
128                    // The expected result
129                    ParsedMessage::Gsa(gsa) => {
130                        assert_eq!(gsa.mode1_automatic, Some(true));
131                        assert_eq!(gsa.mode2_3d, Some(GsaFixMode::Fix3D));
132                        assert_eq!(gsa.prn_numbers, vec![19, 28, 14, 18, 27, 22, 31, 39]);
133                        assert_eq!(gsa.pdop, Some(1.7));
134                        assert_eq!(gsa.hdop, Some(1.0));
135                        assert_eq!(gsa.vdop, Some(1.3));
136                    }
137                    ParsedMessage::Incomplete => {
138                        assert!(false);
139                    }
140                    _ => {
141                        assert!(false);
142                    }
143                }
144            }
145            Err(e) => {
146                assert_eq!(e.to_string(), "OK");
147            }
148        }
149    }
150}
nmea_parser/gnss/gsa.rs

nmea_parser/gnss/
gsa.rs
