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Merge pull request #132 from trkohler/dpt-impl
Prepare implementation for DPT (Depth of Water) messages
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -18,6 +18,7 @@ NMEA Standard Sentences | |
| - BWC | ||
| - BWW | ||
| - DBK | ||
| - DPT | ||
| - GBS | ||
| - GGA * | ||
| - GLL * | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -17,6 +17,7 @@ | |
| //! - BWC | ||
| //! - BWW | ||
| //! - DBK | ||
| //! - DPT | ||
| //! - GBS | ||
| //! - GGA * | ||
| //! - GLL * | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,294 @@ | ||
| use nom::bytes::complete::is_not; | ||
| use nom::character::complete::char; | ||
| use nom::combinator::map_res; | ||
| use nom::combinator::opt; | ||
| use nom::number::complete::double; | ||
| use nom::IResult; | ||
| #[cfg(feature = "serde")] | ||
| use serde::{Deserialize, Serialize}; | ||
|
|
||
| use crate::sentences::utils::parse_float_num; | ||
| use crate::sentences::utils::parse_until_end; | ||
| use crate::Error; | ||
| use crate::ParseResult; | ||
| use crate::SentenceType; | ||
|
|
||
| /// DPT - Depth of Water | ||
| /// | ||
| /// <https://gpsd.gitlab.io/gpsd/NMEA.html#_dpt_depth_of_water> | ||
| /// ```text | ||
| /// 1 2 3 4 | ||
| /// | | | | | ||
| /// $--DPT,x.x,x.x,x.x*hh<CR><LF> | ||
| /// ``` | ||
| /// | ||
| /// Field Number: | ||
| /// | ||
| /// 1. Water depth relative to transducer, meters | ||
| /// 2. Offset from transducer, meters positive means distance from transducer to water line negative means distance from transducer to keel | ||
| /// 3. Maximum range scale in use (NMEA 3.0 and above) | ||
| /// 4. Checksum | ||
| /// | ||
| /// Examples: | ||
| /// * `$INDPT,2.3,0.0*46` | ||
| /// * `$SDDPT,15.2,0.5*68` | ||
| /// | ||
| /// `$SDDPT` is the sentence identifier (`SD` for the talker ID, `DPT` for Depth) | ||
| #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))] | ||
| #[cfg_attr(feature = "defmt-03", derive(defmt::Format))] | ||
| #[derive(Debug, Clone, Copy, PartialEq)] | ||
| pub struct DptData { | ||
| pub water_depth: Option<f64>, | ||
| pub offset: Option<f64>, | ||
| pub max_range_scale: Option<f64>, | ||
| } | ||
|
|
||
| impl From<DptData> for ParseResult { | ||
| fn from(value: DptData) -> Self { | ||
| ParseResult::DPT(value) | ||
| } | ||
| } | ||
|
|
||
| pub fn parse_dpt(sentence: crate::NmeaSentence) -> Result<DptData, crate::Error> { | ||
| if sentence.message_id != crate::SentenceType::DPT { | ||
| Err(Error::WrongSentenceHeader { | ||
| expected: SentenceType::DPT, | ||
| found: sentence.message_id, | ||
| }) | ||
| } else { | ||
| match do_parse_dpt(sentence.data) { | ||
| Ok((_, data)) => Ok(data), | ||
| Err(err) => Err(Error::ParsingError(err)), | ||
| } | ||
| } | ||
| } | ||
|
|
||
| fn parse_positive_f64(input: &str) -> IResult<&str, f64> { | ||
| let (input, value) = double(input)?; | ||
| if value < 0.0 { | ||
| Err(nom::Err::Failure(nom::error::Error::new( | ||
| input, | ||
| nom::error::ErrorKind::Verify, | ||
| ))) | ||
| } else { | ||
| Ok((input, value)) | ||
| } | ||
| } | ||
|
|
||
| fn take_and_make_f64(input: &str) -> IResult<&str, f64> { | ||
| map_res(is_not(","), parse_float_num)(input) | ||
| } | ||
|
|
||
| fn do_parse_dpt(i: &str) -> IResult<&str, DptData> { | ||
| let (i, water_depth) = opt(parse_positive_f64)(i)?; | ||
| let (i, _) = char(',')(i)?; | ||
| let (i, offset) = opt(parse_positive_f64)(i)?; | ||
| let (i, _) = opt(char(','))(i)?; | ||
| let (i, max_range_scale) = opt(take_and_make_f64)(i)?; | ||
|
|
||
| let (i, leftover) = parse_until_end(i)?; | ||
|
|
||
| if !leftover.is_empty() { | ||
| return Err(nom::Err::Failure(nom::error::Error::new( | ||
| i, | ||
| nom::error::ErrorKind::Verify, | ||
| ))); | ||
| } | ||
|
|
||
| Ok(( | ||
| i, | ||
| DptData { | ||
| water_depth, | ||
| offset, | ||
| max_range_scale, | ||
| }, | ||
| )) | ||
| } | ||
|
|
||
| #[cfg(test)] | ||
| mod tests { | ||
|
|
||
| use super::*; | ||
|
|
||
| struct TestExpectation(&'static str, DptData); | ||
| struct FailedTestExpectation(&'static str); | ||
|
|
||
| fn test_check_valid_message( | ||
| message: &str, | ||
| expected: DptData, | ||
| ) -> std::result::Result<(), String> { | ||
| let result = crate::parse::parse_nmea_sentence(message); | ||
| match result { | ||
| Ok(sentence) => { | ||
| let dpt_data = parse_dpt(sentence); | ||
| match dpt_data { | ||
| Ok(data) => { | ||
| if data != expected { | ||
| return Err(format!( | ||
| "DPT parse result is different from expectations. Expected: {:?}, got {:?}", | ||
| expected, data | ||
| )); | ||
| } | ||
| Ok(()) | ||
| } | ||
| Err(_) => Err(format!("Failed to parse DPT sentence: {}", message)), | ||
| } | ||
| } | ||
| Err(_) => Err(format!( | ||
| "NMEA sentence is constructed incorrectly: {}", | ||
| message | ||
| )), | ||
| } | ||
| } | ||
|
|
||
| fn test_invalid_message(message: &str) -> std::result::Result<(), String> { | ||
| let result = crate::parse::parse_nmea_sentence(message); | ||
| match result { | ||
| Ok(sentence) => { | ||
| let dpt_data = parse_dpt(sentence); | ||
| match dpt_data { | ||
| Ok(_) => Err(format!( | ||
| "Parsing should have failed for message: {}", | ||
| message | ||
| )), | ||
| Err(_) => Ok(()), | ||
| } | ||
| } | ||
| Err(_) => Ok(()), | ||
| } | ||
| } | ||
|
|
||
| #[test] | ||
| fn test_parse_dpt() -> std::result::Result<(), String> { | ||
| let correct_dpt_messages: [TestExpectation; 11] = [ | ||
| TestExpectation( | ||
| "$SDDPT,2.4,,*53", | ||
| DptData { | ||
| water_depth: Some(2.4), | ||
| offset: None, | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,15.2,0.5*64", | ||
| DptData { | ||
| water_depth: Some(15.2), | ||
| offset: Some(0.5), | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,15.5,0.5*63", | ||
| DptData { | ||
| water_depth: Some(15.5), | ||
| offset: Some(0.5), | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,15.8,0.5*6E", | ||
| DptData { | ||
| water_depth: Some(15.8), | ||
| offset: Some(0.5), | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,16.1,0.5*64", | ||
| DptData { | ||
| water_depth: Some(16.1), | ||
| offset: Some(0.5), | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,16.4,0.5*61", | ||
| DptData { | ||
| water_depth: Some(16.4), | ||
| offset: Some(0.5), | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,16.7,0.5*62", | ||
| DptData { | ||
| water_depth: Some(16.7), | ||
| offset: Some(0.5), | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,17.0,0.5*64", | ||
| DptData { | ||
| water_depth: Some(17.0), | ||
| offset: Some(0.5), | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,17.3,0.5*67", | ||
| DptData { | ||
| water_depth: Some(17.3), | ||
| offset: Some(0.5), | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,17.9,0.5*6D", | ||
| DptData { | ||
| water_depth: Some(17.9), | ||
| offset: Some(0.5), | ||
| max_range_scale: None, | ||
| }, | ||
| ), | ||
| TestExpectation( | ||
| "$SDDPT,18.7,0.5,2.0*6C", | ||
| DptData { | ||
| water_depth: Some(18.7), | ||
| offset: Some(0.5), | ||
| max_range_scale: Some(2.0), | ||
| }, | ||
| ), // Extra field (NMEA 2.3 DPT has only 2 fields before checksum) | ||
| ]; | ||
|
|
||
| let incorrect_dpt_messages: [FailedTestExpectation; 9] = [ | ||
| FailedTestExpectation("$SDDPT,-12.3,0.5,*6A"), | ||
| FailedTestExpectation( | ||
| "$SDDPT,ABC,0.5*41", // non-numeric water depth | ||
| ), | ||
| FailedTestExpectation( | ||
| "$SDDPT,20.1,XYZ*55", // non-numeric offset | ||
| ), | ||
| FailedTestExpectation( | ||
| "$SDDPT,22.3*31", // missing offset | ||
| ), | ||
| FailedTestExpectation( | ||
| "$SDDPT,19.8,0.5*ZZ", // Invalid checksum (not hexadecimal) | ||
| ), | ||
| FailedTestExpectation( | ||
| "$SDDPT,16.5,0.5,3.0,4.0*6B", // Too many fields | ||
| ), | ||
| FailedTestExpectation( | ||
| "$SDDPT,21.0,-1.5*65", // negative offset | ||
| ), | ||
| FailedTestExpectation( | ||
| "$SDDPT,17.2 0.5*60", // missing comma | ||
| ), | ||
| FailedTestExpectation( | ||
| "$SDDPT,18.3,0.5*XX", // Invalid checksum (not hexadecimal) | ||
| ), | ||
| ]; | ||
|
|
||
| correct_dpt_messages | ||
| .iter() | ||
| .try_for_each(|test_expectation| { | ||
| test_check_valid_message(test_expectation.0, test_expectation.1) | ||
| })?; | ||
|
|
||
| incorrect_dpt_messages | ||
| .iter() | ||
| .try_for_each(|test_expectation| test_invalid_message(test_expectation.0))?; | ||
|
|
||
| Ok(()) | ||
| } | ||
| } |
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