@signalk/nmea0183-signalk
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A node.js/javascript parser for NMEA0183 sentences. Sentences are parsed to Signal K format.
178 lines (176 loc) • 7.82 kB
JavaScript
;
/**
* Copyright 2016 Signal K and Fabian Tollenaar <fabian@signalk.org>.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
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Object.defineProperty(exports, "__esModule", { value: true });
const utils = __importStar(require("@signalk/nmea0183-utilities"));
const debug_1 = __importDefault(require("debug"));
const debug = (0, debug_1.default)('signalk-parser-nmea0183/APB');
/*
0 1 2 3 4 5 6 7 8 9 10 11 12
| | | | | | | | | | | | |
$GPAPB,A,A,0.10,R,N,V,V,011,M,DEST,011,M,011,M*3C
where:
APB Autopilot format B
0 A Loran-C blink/SNR warning, general warning
1 A Loran-C cycle warning
2 0.10 cross-track error distance
3 R steer Right to correct (or L for Left)
4 N cross-track error units - nautical miles (K for kilometers)
5 V arrival alarm - circle
6 V arrival alarm - perpendicular
7,8 011,M magnetic bearing, origin to destination
9 DEST destination waypoint ID
10,11 011,M magnetic bearing, present position to destination
12,13 011,M magnetic heading to steer (bearings could True as 033,T)
*3C Checksum
*/
const APB = function (input, _session) {
const { id, sentence, parts, tags } = input;
const upper = (str) => str.trim().toUpperCase();
debug(`[APBHook] decoding sentence ${id} => ${sentence}`);
if (upper(parts[0]) === '' ||
upper(parts[1]) === '' ||
upper(parts[2]) === '' ||
upper(parts[3]) === '' ||
upper(parts[4]) === '') {
return null;
}
if (parts[0].trim().toUpperCase() === 'V') {
// Don't parse this sentence as it's void.
throw new Error("Not parsing sentence for it's void (LORAN-C blink/SNR warning)");
}
if (parts[1].trim().toUpperCase() === 'V') {
throw new Error("Not parsing sentence for it's void (LORAN-C cycle warning)");
}
// XTE
const direction = parts[3].trim().toUpperCase() === 'L' ? 1 : -1;
const xte = direction *
utils.transform(parts[2], parts[4].trim().toUpperCase() === 'N' ? 'nm' : 'km', 'm');
// WP arrival status
const arrivalCircleEntered = parts[5].trim().toUpperCase() === 'A';
const perpendicularPassed = parts[6].trim().toUpperCase() === 'A';
// Bearing, origin to destination
const bearingOriginToDest = utils.transform(parts[7], 'deg', 'rad');
const bearingOriginToDestType = parts[8].trim().toUpperCase() === 'M' ? 'Magnetic' : 'True';
// Destination Waypoint ID
const destinationWaypointID = parts[9].trim();
// Bearing, position to destination
const bearingPositionToDest = utils.transform(parts[10], 'deg', 'rad');
const bearingPositionToDestType = parts[11].trim().toUpperCase() === 'M' ? 'Magnetic' : 'True';
// Heading to steer
const headingToSteer = utils.transform(parts[12], 'deg', 'rad');
const headingToSteerType = parts[13].trim().toUpperCase() === 'M' ? 'Magnetic' : 'True';
return {
updates: [
{
source: tags.source,
timestamp: tags.timestamp,
values: [
{
path: 'navigation.courseRhumbline.crossTrackError',
value: xte
},
{
path: `navigation.courseRhumbline.bearingTrack${bearingOriginToDestType}`,
value: bearingOriginToDest
},
{
path: `navigation.courseRhumbline.bearingOriginToDestination${bearingOriginToDestType}`,
value: bearingOriginToDest
},
{
path: `navigation.courseRhumbline.bearingToDestination${bearingPositionToDestType}`,
value: bearingPositionToDest
},
// Spec path for present-position-to-destination bearing, emitted
// alongside the legacy `bearingToDestination*` above so existing
// consumers keep working. Schema reference:
// groups/navigation.json -> course.nextPoint.bearing{True,Magnetic}.
{
path: `navigation.courseRhumbline.nextPoint.bearing${bearingPositionToDestType}`,
value: bearingPositionToDest
},
{
path: 'navigation.courseRhumbline.nextPoint.ID',
value: destinationWaypointID
},
{
path: `steering.autopilot.target.heading${headingToSteerType}`,
value: headingToSteer
},
{
path: 'notifications.arrivalCircleEntered',
value: arrivalCircleEntered === false
? null
: {
method: ['sound', 'visual'],
state: 'alarm',
message: 'WP arrival circle entered!'
}
},
{
path: 'notifications.perpendicularPassed',
value: perpendicularPassed === false
? null
: {
method: ['sound', 'visual'],
state: 'alarm',
message: 'Perpendicular passed!'
}
}
]
}
]
};
};
exports.default = APB;
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