Merge pull request #62 from bahelms/aam-sentence-parsing

Add AAM sentence parser

Author: elpiel

src/parse.rs

@@ -97,6 +97,7 @@ pub fn parse_nmea_sentence(sentence: &str) -> core::result::Result<NmeaSentence,
 /// The result of parsing a single NMEA message.
 #[derive(Debug, PartialEq)]
 pub enum ParseResult {
+    AAM(AamData),
     BOD(BodData),
     BWC(BwcData),
     GBS(GbsData),

src/parser.rs

@@ -356,6 +356,7 @@ impl<'a> Nmea {
             ParseResult::BWC(_)
             | ParseResult::BOD(_)
             | ParseResult::GBS(_)
+            | ParseResult::AAM(_)
             | ParseResult::PGRMZ(_) => return Ok(FixType::Invalid),
 
             ParseResult::Unsupported(_) => {

src/sentences/aam.rs

@@ -0,0 +1,177 @@
+use arrayvec::ArrayString;
+use nom::{
+    bytes::complete::is_not,
+    character::complete::{char, one_of},
+    combinator::opt,
+    number::complete::float,
+};
+
+use crate::{parse::NmeaSentence, sentences::utils::array_string, Error, SentenceType};
+
+const MAX_LEN: usize = 64;
+
+/// AAM - Waypoint Arrival Alarm
+///
+/// <https://gpsd.gitlab.io/gpsd/NMEA.html#_aam_waypoint_arrival_alarm>
+///
+/// ```text
+///        1 2 3   4 5    6
+///        | | |   | |    |
+/// $--AAM,A,A,x.x,N,c--c*hh<CR><LF>
+///
+/// Field Number:
+///   1. Status, BOOLEAN, A = Arrival circle entered, V = not passed
+///   2. Status, BOOLEAN, A = perpendicular passed at waypoint, V = not passed
+///   3. Arrival circle radius
+///   4. Units of radiuos, nautical miles
+///   5. Waypoint ID
+///   6. Checksum
+///
+/// Example: $GPAAM,A,A,0.10,N,WPTNME*43
+/// WPTNME is the waypoint name.
+/// ```
+#[derive(Debug, PartialEq)]
+pub struct AamData {
+    pub arrival_circle_entered: Option<bool>,
+    pub perpendicular_passed: Option<bool>,
+    pub arrival_circle_radius: Option<f32>,
+    pub radius_units: Option<char>,
+    pub waypoint_id: Option<ArrayString<MAX_LEN>>,
+}
+
+/// Parse AAM message
+pub fn parse_aam(sentence: NmeaSentence) -> Result<AamData, Error> {
+    if sentence.message_id != SentenceType::AAM {
+        Err(Error::WrongSentenceHeader {
+            expected: SentenceType::AAM,
+            found: sentence.message_id,
+        })
+    } else {
+        Ok(do_parse_aam(sentence.data)?)
+    }
+}
+
+fn do_parse_aam(i: &str) -> Result<AamData, Error> {
+    let (i, arrival_circle_entered) = one_of("AV")(i)?;
+    let arrival_circle_entered = match arrival_circle_entered {
+        'A' => Some(true),
+        'V' => Some(false),
+        _ => unreachable!(),
+    };
+    let (i, _) = char(',')(i)?;
+
+    let (i, perpendicular_passed) = one_of("AV")(i)?;
+    let perpendicular_passed = match perpendicular_passed {
+        'A' => Some(true),
+        'V' => Some(false),
+        _ => unreachable!(),
+    };
+    let (i, _) = char(',')(i)?;
+
+    let (i, arrival_circle_radius) = opt(float)(i)?;
+    let (i, _) = char(',')(i)?;
+
+    let (i, radius_units) = opt(char('N'))(i)?;
+    let (i, _) = char(',')(i)?;
+
+    let (_i, waypoint_id) = opt(is_not("*"))(i)?;
+
+    Ok(AamData {
+        arrival_circle_entered,
+        perpendicular_passed,
+        arrival_circle_radius,
+        radius_units,
+        waypoint_id: waypoint_id.map(array_string::<MAX_LEN>).transpose()?,
+    })
+}
+
+#[cfg(test)]
+mod tests {
+    use approx::assert_relative_eq;
+
+    use super::*;
+    use crate::{parse::parse_nmea_sentence, SentenceType};
+
+    #[test]
+    fn parse_aam_with_nmea_sentence_struct() {
+        let data = parse_aam(NmeaSentence {
+            talker_id: "GP",
+            message_id: SentenceType::AAM,
+            data: "A,V,0.10,N,WPTNME",
+            checksum: 0x0,
+        })
+        .unwrap();
+
+        assert!(data.arrival_circle_entered.unwrap());
+        assert!(!data.perpendicular_passed.unwrap());
+        assert_relative_eq!(data.arrival_circle_radius.unwrap(), 0.10);
+        assert_eq!(data.radius_units.unwrap(), 'N');
+        assert_eq!(&data.waypoint_id.unwrap(), "WPTNME");
+    }
+
+    #[test]
+    #[should_panic]
+    fn parse_aam_with_invalid_arrival_circle_entered_value() {
+        parse_aam(NmeaSentence {
+            talker_id: "GP",
+            message_id: SentenceType::AAM,
+            data: "G,V,0.10,N,WPTNME",
+            checksum: 0x0,
+        })
+        .unwrap();
+    }
+
+    #[test]
+    #[should_panic]
+    fn parse_aam_with_invalid_perpendicular_passed_value() {
+        parse_aam(NmeaSentence {
+            talker_id: "GP",
+            message_id: SentenceType::AAM,
+            data: "V,X,0.10,N,WPTNME",
+            checksum: 0x0,
+        })
+        .unwrap();
+    }
+
+    #[test]
+    #[should_panic]
+    fn parse_aam_with_invalid_radius_units_value() {
+        parse_aam(NmeaSentence {
+            talker_id: "GP",
+            message_id: SentenceType::AAM,
+            data: "V,A,0.10,P,WPTNME",
+            checksum: 0x0,
+        })
+        .unwrap();
+    }
+
+    #[test]
+    fn parse_aam_full_sentence() {
+        let sentence = parse_nmea_sentence("$GPAAM,A,A,0.10,N,WPTNME*32").unwrap();
+        assert_eq!(sentence.checksum, 0x32);
+        assert_eq!(sentence.calc_checksum(), 0x32);
+
+        let data = parse_aam(sentence).unwrap();
+        assert!(data.arrival_circle_entered.unwrap());
+        assert!(data.perpendicular_passed.unwrap());
+        assert_relative_eq!(data.arrival_circle_radius.unwrap(), 0.10);
+        assert_eq!(data.radius_units.unwrap(), 'N');
+        assert_eq!(&data.waypoint_id.unwrap(), "WPTNME");
+    }
+
+    #[test]
+    fn parse_aam_with_wrong_message_id() {
+        let error = parse_aam(NmeaSentence {
+            talker_id: "GP",
+            message_id: SentenceType::ABK,
+            data: "A,V,0.10,N,WPTNME",
+            checksum: 0x43,
+        })
+        .unwrap_err();
+
+        if let Error::WrongSentenceHeader { expected, found } = error {
+            assert_eq!(expected, SentenceType::AAM);
+            assert_eq!(found, SentenceType::ABK);
+        }
+    }
+}

src/sentences/mod.rs

@@ -1,5 +1,6 @@
 //! All the supported sentence type data and parsers.
 
+mod aam;
 mod bod;
 mod bwc;
 mod gbs;
@@ -19,6 +20,7 @@ mod fix_type;
 mod gnss_type;
 
 pub use {
+    aam::{parse_aam, AamData},
     bod::{parse_bod, BodData},
     bwc::{parse_bwc, BwcData},
     faa_mode::{FaaMode, FaaModes},

tests/all_supported_messages.rs

@@ -5,6 +5,8 @@ use nmea::{parse_str, Error, Nmea, SentenceType};
 #[test]
 fn test_all_supported_messages() {
     let sentences = [
+        // AAM
+        (SentenceType::AAM, "$GPAAM,A,A,0.10,N,WPTNME*32"),
         // BWC
         (SentenceType::BWC, "$GPBWC,220516,5130.02,N,00046.34,W,213.8,T,218.0,M,0004.6,N,EGLM*21"),
         // GGA
@@ -23,7 +25,9 @@ fn test_all_supported_messages() {
         (SentenceType::TXT, "$GNTXT,01,01,02,u-blox AG - www.u-blox.com*4E"),
         // VTG
         (SentenceType::VTG, "$GPVTG,360.0,T,348.7,M,000.0,N,000.0,K*43"),
-    ].into_iter().collect::<HashMap<_, _>>();
+    ]
+    .into_iter()
+    .collect::<HashMap<_, _>>();
 
     // `parse_str()` test
     {
@@ -57,14 +61,10 @@ fn test_all_supported_messages() {
         let errors = parse_results
             .into_iter()
             .filter_map(|result| result.err())
+            .map(|(_sentence, error_type)| error_type)
             .collect::<Vec<_>>();
 
-        assert_eq!(
-            vec![(
-                &sentences[&SentenceType::BWC],
-                Error::Unsupported(SentenceType::BWC)
-            )],
-            errors,
-        );
+        assert!(errors.contains(&Error::Unsupported(SentenceType::BWC)));
+        assert!(errors.contains(&Error::Unsupported(SentenceType::AAM)));
     }
 }