public void CorrectlyDecodesXdrEvenIfExtraChars()
{
// Seen in one example (the last "A" shouldn't be there)
string sentence = "$IIXDR,A,4,D,ROLL,A,-2,D,PTCH,A*1A";
var inSentence = TalkerSentence.FromSentenceString(sentence, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(inSentence);
var decoded = (TransducerMeasurement)inSentence !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.NotNull(decoded);
var roll = decoded.DataSets[0];
Assert.Equal(4.0, roll.Value);
Assert.Equal("A", roll.DataType);
Assert.Equal("D", roll.Unit);
Assert.Equal("ROLL", roll.DataName);
var pitch = decoded.DataSets[1];
Assert.Equal(-2.0, pitch.Value);
Assert.Equal("A", pitch.DataType);
Assert.Equal("D", pitch.Unit);
Assert.Equal("PTCH", pitch.DataName);
}
public void ChecksumWorksAlsoWithNonAsciiCharacters()
{
string sentence = "$GPBOD,16.8,T,14.9,M,Grenze des Beschränkungsgebiete,*A9";
var ts = TalkerSentence.FromSentenceString(sentence, out var error);
Assert.NotNull(ts);
Assert.Equal(NmeaError.None, error);
}
public void ChecksumIsNotHex()
{
string sentence = "$GPRMC,211730.997,A,3511.28,S,13823.26,E,7.0,229.0,190120,,,*QQ";
var ts = TalkerSentence.FromSentenceString(sentence, out var error);
Assert.Null(ts);
Assert.Equal(NmeaError.InvalidChecksum, error);
}
public void NoHeader()
{
string sentence = "RMC,211730.997,A,3511.28,S,13823.26,E,7.0,229.0,190120,,,*1A";
var ts = TalkerSentence.FromSentenceString(sentence, out var error);
Assert.Null(ts);
Assert.Equal(NmeaError.NoSyncByte, error);
}
public void CanParseAllTheseMessages(string input)
{
var inSentence = TalkerSentence.FromSentenceString(input, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(inSentence);
var decoded = inSentence !.TryGetTypedValue(ref _lastPacketTime);
Assert.NotNull(decoded);
Assert.False(decoded is RawSentence);
}
public void ValidSentenceButNoChecksum()
{
string sentence = "$GPRMC,211730.997,A,3511.28,S,13823.26,E,7.0,229.0,190120,,,";
var ts = TalkerSentence.FromSentenceString(sentence, out var error) !;
Assert.NotNull(ts);
Assert.Equal(NmeaError.None, error);
Assert.Equal(new SentenceId("RMC"), ts.Id);
Assert.Equal(TalkerId.GlobalPositioningSystem, ts.TalkerId);
Assert.Equal(12, ts.Fields.Count());
}
private void ParseSequencesAndAddToCache(IEnumerable <string> inputSequences)
{
DateTimeOffset now = DateTimeOffset.Now;
foreach (var seq in inputSequences)
{
var decoded = TalkerSentence.FromSentenceString(seq, out var error) !;
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
var s = decoded.TryGetTypedValue(ref now) !;
_autopilot.SentenceCache.Add(s);
}
}
public void HdmDecode()
{
string msg = "$GPHDM,99.9,M";
var decoded = TalkerSentence.FromSentenceString(msg, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
HeadingMagnetic hdm = (HeadingMagnetic)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.True(hdm.Valid);
Assert.Equal(99.9, hdm.Angle.Degrees, 1);
}
public void HdtDecode()
{
string msg = "$GPHDT,99.9,T";
var decoded = TalkerSentence.FromSentenceString(msg, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
HeadingTrue xte = (HeadingTrue)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.True(xte.Valid);
Assert.Equal(99.9, xte.Angle.Degrees, 1);
}
public void XteDecode()
{
string msg = "$GPXTE,A,A,0.00,L,N,D*06";
var decoded = TalkerSentence.FromSentenceString(msg, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
CrossTrackError xte = (CrossTrackError)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.True(xte.Valid);
Assert.Equal(Length.Zero, xte.Distance);
}
public void SentenceDecode()
{
string sentence = "$GPRMC,211730.997,A,3511.28,S,13823.26,E,7.0,229.0,190120,,,*35";
var ts = TalkerSentence.FromSentenceString(sentence, out var error) !;
Assert.NotNull(ts);
_lastPacketTime = DateTimeOffset.UtcNow;
var decoded = ts.TryGetTypedValue(ref _lastPacketTime);
Assert.NotNull(decoded);
Assert.IsType <RecommendedMinimumNavigationInformation>(decoded);
Assert.Equal(21, decoded !.DateTime.Hour);
Assert.Equal(17, decoded !.DateTime.Minute);
}
public void DontCrashOnTheseInvalidSentences(string sentence)
{
var inSentence = TalkerSentence.FromSentenceString(sentence, out var error);
if (error == NmeaError.InvalidChecksum)
{
Assert.Null(inSentence);
}
else
{
Assert.NotNull(inSentence);
Assert.True(inSentence !.Fields != null);
}
}
private static void UsingSerial()
{
DateTimeOffset lastMessageTime = DateTimeOffset.UtcNow;
using (var sp = new SerialPort("/dev/ttyS0"))
{
sp.NewLine = "\r\n";
sp.Open();
// Device streams continuously and therefore most of the time we would end up in the middle of the line
// therefore ignore first line so that we align correctly
sp.ReadLine();
bool gotRmc = false;
while (!gotRmc)
{
string line = sp.ReadLine();
TalkerSentence?sentence = TalkerSentence.FromSentenceString(line, out _);
if (sentence == null)
{
continue;
}
object?typed = sentence.TryGetTypedValue(ref lastMessageTime);
if (typed == null)
{
Console.WriteLine($"Sentence identifier `{sentence.Id}` is not known.");
}
else if (typed is RecommendedMinimumNavigationInformation rmc)
{
gotRmc = true;
if (rmc.Position.ContainsValidPosition())
{
Console.WriteLine($"Your location: {rmc.Position}");
}
else
{
Console.WriteLine($"You cannot be located.");
}
}
else
{
Console.WriteLine($"Sentence of type `{typed.GetType().FullName}` not handled.");
}
}
}
}
public void TrueWindSpeedDecode()
{
string msg = "$WIMWV,220.0,T,5.0,N,A*20";
var decoded = TalkerSentence.FromSentenceString(msg, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
WindSpeedAndAngle mwv = (WindSpeedAndAngle)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.Equal(Angle.FromDegrees(220), mwv.Angle);
Assert.False(mwv.Relative);
Assert.Equal(Speed.FromKnots(5.0), mwv.Speed);
}
public void MwvDecode()
{
string text = "$YDMWV,331.6,R,0.7,M,A";
var decoded = TalkerSentence.FromSentenceString(text, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
WindSpeedAndAngle wind = (WindSpeedAndAngle)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.True(wind.Valid);
Assert.True(wind.Relative);
Assert.Equal(331.6 - 360.0, wind.Angle.Degrees, 1);
Assert.Equal(0.7, wind.Speed.MetersPerSecond, 1);
}
public void ZdaDecode()
{
_lastPacketTime = DateTimeOffset.UtcNow;
string text = "$GPZDA,135302.036,02,02,2020,+01,00*7F";
var decoded = TalkerSentence.FromSentenceString(text, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
TimeDate zda = (TimeDate)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.True(zda.Valid);
Assert.Equal(1.0, zda.LocalTimeOffset.TotalHours);
Assert.Equal(new DateTime(2020, 02, 02, 13, 53, 02, 36, DateTimeKind.Utc), zda.DateTime);
}
public void ZdaDecodeNoTime()
{
_lastPacketTime = DateTimeOffset.UtcNow;
DateTimeOffset start = _lastPacketTime;
string text = "$GPZDA,,,,,,*48";
var decoded = TalkerSentence.FromSentenceString(text, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
TimeDate zda = (TimeDate)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.False(zda.Valid);
Assert.Equal(0, zda.LocalTimeOffset.TotalHours);
Assert.Equal(start, _lastPacketTime); // Should not have changed
}
public void DecodeWithDifferentSequenceIdLength(string sentence, string expectedSentenceId)
{
var ts = TalkerSentence.FromSentenceString(sentence, out var error) !;
Assert.NotNull(ts);
_lastPacketTime = DateTimeOffset.UtcNow;
var decoded = ts.TryGetTypedValue(ref _lastPacketTime);
Assert.NotNull(decoded);
if (decoded != null)
{
Assert.IsType <RawSentence>(decoded);
Assert.Equal(new SentenceId(expectedSentenceId), decoded.SentenceId);
Assert.Equal(sentence, decoded.ToNmeaMessage());
}
}
public void SentenceRoundTripIsUnaffectedByCulture(string input)
{
// de-DE has "," as decimal separator. Big trouble if using CurrentCulture for any parsing or formatting here
using (new SetCultureForTest("de-DE"))
{
var inSentence = TalkerSentence.FromSentenceString(input, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(inSentence);
var decoded = inSentence !.TryGetTypedValue(ref _lastPacketTime);
Assert.NotNull(decoded);
TalkerSentence outSentence = new TalkerSentence(decoded !);
string output = outSentence.ToString();
output = output.Remove(output.IndexOf("*", StringComparison.Ordinal));
Assert.Equal(input, output);
}
}
public void ApparentWindSpeedDecode()
{
string msg = "$WIMWV,350.0,R,16.8,N,A*1A";
var decoded = TalkerSentence.FromSentenceString(msg, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
WindSpeedAndAngle mwv = (WindSpeedAndAngle)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.Equal(AngleUnit.Degree, mwv.Angle.Unit);
Assert.Equal(Angle.FromDegrees(-10).Degrees, mwv.Angle.Degrees, 3);
Assert.True(mwv.Relative);
Assert.Equal(SpeedUnit.Knot, mwv.Speed.Unit);
Assert.Equal(Speed.FromKnots(16.8), mwv.Speed);
}
public void SentenceRoundTrip(string input)
{
var inSentence = TalkerSentence.FromSentenceString(input, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(inSentence);
var decoded = inSentence !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.NotNull(decoded);
TalkerSentence outSentence = new TalkerSentence(decoded);
string output = outSentence.ToString();
Assert.Equal(input, output);
// Just test that this doesn't cause an exception
Assert.NotNull(decoded.ToReadableContent());
}
public void TwoWaysOfGettingSentenceAreEqual(string input)
{
// de-DE has "," as decimal separator. Big trouble if using CurrentCulture for any parsing or formatting here
using (new SetCultureForTest("de-DE"))
{
var inSentence = TalkerSentence.FromSentenceString(input, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(inSentence);
var decoded = inSentence !.TryGetTypedValue(ref _lastPacketTime);
Assert.NotNull(decoded);
TalkerSentence outSentence = new TalkerSentence(decoded !);
string output = outSentence.ToString();
// For convenience, a sentence can also be directly converted to a nmea string. Check that the result is equal.
String alternateToString = decoded !.ToNmeaMessage();
Assert.Equal(output, alternateToString);
}
}
public void GgaDecode()
{
_lastPacketTime = DateTimeOffset.UtcNow;
string msg = "$GPGGA,163810,4728.7027,N,00929.9666,E,2,12,0.6,397.4,M,46.8,M,,*4C";
var inSentence = TalkerSentence.FromSentenceString(msg, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(inSentence);
GlobalPositioningSystemFixData nmeaSentence = (GlobalPositioningSystemFixData)inSentence !.TryGetTypedValue(ref _lastPacketTime) !;
var expectedPos = new GeographicPosition(47.478378333333332, 9.4994433333333337, 397.4 + 46.8);
Assert.True(expectedPos.EqualPosition(nmeaSentence.Position));
Assert.Equal(GpsQuality.DifferentialFix, nmeaSentence.Status);
Assert.Equal(12, nmeaSentence.NumberOfSatellites);
Assert.Equal(0.6, nmeaSentence.Hdop);
Assert.Equal(_lastPacketTime.Date, nmeaSentence.DateTime.Date);
Assert.Equal(new TimeSpan(0, 16, 38, 10), nmeaSentence.DateTime.TimeOfDay);
}
public void GsvDecode()
{
const string msg = "$YDGSV,5,1,18,19,29,257,45,22,30,102,45,04,76,143,44,06,47,295,42";
var decoded = TalkerSentence.FromSentenceString(msg, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
SatellitesInView nav = (SatellitesInView)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.False(nav.ReplacesOlderInstance);
Assert.Equal(4, nav.Satellites.Count);
Assert.Equal(18, nav.TotalSatellites);
foreach (var s in nav.Satellites)
{
Assert.True(!string.IsNullOrWhiteSpace(s.Id));
Assert.True(s.Elevation > Angle.Zero && s.Elevation < Angle.FromDegrees(90));
Assert.True(s.Azimuth > Angle.Zero && s.Azimuth < Angle.FromDegrees(360));
}
}
public void RmbDecode()
{
string text = "$GPRMB,A,0.02,R,R3,R4,4728.9218,N,00930.3359,E,0.026,222.0,2.4,V,D";
var decoded = TalkerSentence.FromSentenceString(text, out var error);
Assert.Equal(NmeaError.None, error);
Assert.NotNull(decoded);
RecommendedMinimumNavToDestination nav = (RecommendedMinimumNavToDestination)decoded !.TryGetTypedValue(ref _lastPacketTime) !;
Assert.True(nav.Valid);
Assert.Equal(-0.02, nav.CrossTrackError.NauticalMiles, 2);
Assert.Equal("R3", nav.PreviousWayPointName);
Assert.Equal("R4", nav.NextWayPointName);
Assert.Equal(47.48203, nav.NextWayPoint.Latitude, 6);
Assert.Equal(9.505598, nav.NextWayPoint.Longitude, 6);
Assert.Equal(0.026, nav.DistanceToWayPoint.GetValueOrDefault(Length.Zero).NauticalMiles, 3);
Assert.Equal(222.0, nav.BearingToWayPoint.GetValueOrDefault(Angle.Zero).Degrees, 1);
Assert.Equal(2.4, nav.ApproachSpeed.GetValueOrDefault(Speed.Zero).Knots, 1);
}