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Merge pull request #88 from aldas/sentences
Add a lot of new sentences. * [AAM](./aam.go) - Waypoint Arrival Alarm * [ALA](./ala.go) - System Faults and alarms * [APB](./apb.go) - Autopilot Sentence "B" * [BEC](./bec.go) - Bearing and distance to waypoint (dead reckoning) * [BOD](./bod.go) - Bearing waypoint to waypoint (origin to destination). * [BWC](./bwc.go) - Bearing and distance to waypoint, great circle * [BWR](./bwr.go) - Bearing and distance to waypoint (Rhumb Line) * [BWW](./bww.go) - bearing (from destination) destination waypoint to origin waypoint * [DBK](./dbk.go) - Depth Below Keel (obsolete, use DPT instead) * [DOR](./dor.go) - Door Status Detection * [DSC](./dsc.go) - Digital Selective Calling Information * [DSE](./dse.go) - Expanded digital selective calling * [EVE](./eve.go) - General Event Message * [FIR](./fir.go) - Fire Detection event with time and location * [HSC](./hsc.go) - Heading steering command * [MTA](./mta.go) - Air Temperature (obsolete, use XDR instead) * [RMB](./rmb.go) - Recommended Minimum Navigation Information * [RPM](./rpm.go) - Engine or Shaft revolutions and pitch * [RSA](./rsa.go) - Rudder Sensor Angle * [VDR](./vdr.go) - Set and Drift * [VLW](./vlw.go) - Distance Traveled through Water * [VPW](./vpw.go) - Speed Measured Parallel to Wind * [VWR](./vwr.go) - Relative Wind Speed and Angle * [VWT](./vwt.go) - True Wind Speed and Angle * [XDR](./xdr.go) - Transducer Measurement * [XTE](./xte.go) - Cross-track error, measured
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‎README.md‎

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Original file line numberDiff line numberDiff line change
@@ -29,41 +29,66 @@ To update go-nmea to the latest version, use `go get -u github.com/adrianmo/go-n
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At this moment, this library supports the following sentence types:
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| Sentence type | Description |
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|-------------------------------------------------------------------------------|-----------------------------------------------------------|
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| [RMC](http://aprs.gids.nl/nmea/#rmc) | Recommended Minimum Specific GPS/Transit data |
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| [GGA](http://aprs.gids.nl/nmea/#gga) | GPS Positioning System Fix Data |
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| [GSA](http://aprs.gids.nl/nmea/#gsa) | GPS DOP and active satellites |
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| [GSV](http://aprs.gids.nl/nmea/#gsv) | GPS Satellites in view |
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| [GLL](http://aprs.gids.nl/nmea/#gll) | Geographic Position, Latitude / Longitude and time |
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| [VTG](http://aprs.gids.nl/nmea/#vtg) | Track Made Good and Ground Speed |
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| [ZDA](http://aprs.gids.nl/nmea/#zda) | Date & time data |
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| [HDT](http://aprs.gids.nl/nmea/#hdt) | Actual vessel heading in degrees True |
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| [HDG](https://gpsd.gitlab.io/gpsd/NMEA.html#_hdg_heading_deviation_variation) | Heading, Deviation & Variation |
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| [HDM](https://gpsd.gitlab.io/gpsd/NMEA.html#_hdm_heading_magnetic) | Heading - Magnetic |
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| [GNS](https://gpsd.gitlab.io/gpsd/NMEA.html#_gns_fix_data) | Combined GPS fix for GPS, Glonass, Galileo, and BeiDou |
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| [VDM/VDO](https://gpsd.gitlab.io/gpsd/AIVDM.html) | Encapsulated binary payload (commonly used with AIS data) |
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| [WPL](http://aprs.gids.nl/nmea/#wpl) | Waypoint location |
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| [RTE](http://aprs.gids.nl/nmea/#rte) | Route |
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| [ROT](https://gpsd.gitlab.io/gpsd/NMEA.html#_rot_rate_of_turn) | Rate of turn |
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| [VHW](https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf) | Water Speed and Heading |
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| [DPT](https://gpsd.gitlab.io/gpsd/NMEA.html#_dpt_depth_of_water) | Depth of Water |
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| [DBS](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbs_depth_below_surface) | Depth Below Surface |
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| [DBT](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbt_depth_below_transducer) | Depth below transducer |
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| [MDA](https://gpsd.gitlab.io/gpsd/NMEA.html#_mda_meteorological_composite) | Meteorological Composite |
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| [MWD](https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf) | Wind Direction and Speed |
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| [MWV](https://gpsd.gitlab.io/gpsd/NMEA.html#_mwv_wind_speed_and_angle) | Wind Speed and Angle |
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| [MTW](https://gpsd.gitlab.io/gpsd/NMEA.html#_mtw_mean_temperature_of_water) | Mean Temperature of Water |
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| [THS](http://www.nuovamarea.net/pytheas_9.html) | Actual vessel heading in degrees True and status |
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| [TXT](https://www.nmea.org/Assets/20160520%20txt%20amendment.pdf) | Sentence is for the transmission of text messages |
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| Sentence type | Description |
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|-----------------------------------------------------------------------------------------------|-----------------------------------------------------------|
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| [AAM](https://gpsd.gitlab.io/gpsd/NMEA.html#_aam_waypoint_arrival_alarm) | Waypoint Arrival Alarm |
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| [ALA](./ala.go) | System Faults and Alarms |
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| [APB](https://gpsd.gitlab.io/gpsd/NMEA.html#_apb_autopilot_sentence_b) | Autopilot Sentence "B" |
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| [BEC](http://www.nmea.de/nmea0183datensaetze.html#bec) | Bearing and distance to waypoint (dead reckoning) |
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| [BOD](https://gpsd.gitlab.io/gpsd/NMEA.html#_bod_bearing_waypoint_to_waypoint) | Bearing waypoint to waypoint (origin to destination) |
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| [BWC](https://gpsd.gitlab.io/gpsd/NMEA.html#_bwc_bearing_distance_to_waypoint_great_circle) | Bearing and distance to waypoint (great circle) |
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| [BWR](https://gpsd.gitlab.io/gpsd/NMEA.html#_bwr_bearing_and_distance_to_waypoint_rhumb_line) | Bearing and distance to waypoint (Rhumb Line) |
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| [BWW](https://gpsd.gitlab.io/gpsd/NMEA.html#_bww_bearing_waypoint_to_waypoint) | Bearing from destination waypoint to origin waypoint |
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| [DBK](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbk_depth_below_keel) | Depth Below Keel (obsolete, use DPT instead) |
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| [DBS](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbs_depth_below_surface) | Depth Below Surface (obsolete, use DPT instead) |
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| [DBT](https://gpsd.gitlab.io/gpsd/NMEA.html#_dbt_depth_below_transducer) | Depth below transducer |
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| [DOR](./dor.go) | Door Status Detection |
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| [DPT](https://gpsd.gitlab.io/gpsd/NMEA.html#_dpt_depth_of_water) | Depth of Water |
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| [DSC](./dsc.go) | Digital Selective Calling Information |
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| [DSE](./dse.go) | Expanded digital selective calling |
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| [EVE](./eve.go) | General Event Message |
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| [FIR](./fir.go) | Fire Detection event with time and location |
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| [GGA](http://aprs.gids.nl/nmea/#gga) | GPS Positioning System Fix Data |
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| [GLL](http://aprs.gids.nl/nmea/#gll) | Geographic Position, Latitude / Longitude and time |
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| [GNS](https://gpsd.gitlab.io/gpsd/NMEA.html#_gns_fix_data) | Combined GPS fix for GPS, Glonass, Galileo, and BeiDou |
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| [GSA](http://aprs.gids.nl/nmea/#gsa) | GPS DOP and active satellites |
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| [GSV](http://aprs.gids.nl/nmea/#gsv) | GPS Satellites in view |
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| [HDG](https://gpsd.gitlab.io/gpsd/NMEA.html#_hdg_heading_deviation_variation) | Heading, Deviation & Variation |
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| [HDM](https://gpsd.gitlab.io/gpsd/NMEA.html#_hdm_heading_magnetic) | Heading - Magnetic |
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| [HDT](http://aprs.gids.nl/nmea/#hdt) | Actual vessel heading in degrees True |
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| [HSC](https://gpsd.gitlab.io/gpsd/NMEA.html#_hsc_heading_steering_command) | Heading steering command |
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| [MDA](https://gpsd.gitlab.io/gpsd/NMEA.html#_mda_meteorological_composite) | Meteorological Composite |
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| [MTA](./mta.go) | Air Temperature (obsolete, use XDR instead) |
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| [MTW](https://gpsd.gitlab.io/gpsd/NMEA.html#_mtw_mean_temperature_of_water) | Mean Temperature of Water |
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| [MWD](https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf) | Wind Direction and Speed |
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| [MWV](https://gpsd.gitlab.io/gpsd/NMEA.html#_mwv_wind_speed_and_angle) | Wind Speed and Angle |
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| [RMB](https://gpsd.gitlab.io/gpsd/NMEA.html#_rmb_recommended_minimum_navigation_information) | Recommended Minimum Navigation Information |
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| [RMC](http://aprs.gids.nl/nmea/#rmc) | Recommended Minimum Specific GPS/Transit data |
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| [ROT](https://gpsd.gitlab.io/gpsd/NMEA.html#_rot_rate_of_turn) | Rate of turn |
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| [RPM](https://gpsd.gitlab.io/gpsd/NMEA.html#_rpm_revolutions) | Engine or Shaft revolutions and pitch |
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| [RSA](https://gpsd.gitlab.io/gpsd/NMEA.html#_rsa_rudder_sensor_angle) | Rudder Sensor Angle |
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| [RTE](http://aprs.gids.nl/nmea/#rte) | Route |
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| [THS](http://www.nuovamarea.net/pytheas_9.html) | Actual vessel heading in degrees True and status |
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| [TXT](https://www.nmea.org/Assets/20160520%20txt%20amendment.pdf) | Sentence is for the transmission of text messages |
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| [VDM/VDO](https://gpsd.gitlab.io/gpsd/AIVDM.html) | Encapsulated binary payload (commonly used with AIS data) |
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| [VDR](https://gpsd.gitlab.io/gpsd/NMEA.html#_vdr_set_and_drift) | Set and Drift |
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| [VHW](https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf) | Water Speed and Heading |
76+
| [VLW](https://gpsd.gitlab.io/gpsd/NMEA.html#_vlw_distance_traveled_through_water) | Distance Traveled through Water |
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| [VPW](https://gpsd.gitlab.io/gpsd/NMEA.html#_vpw_speed_measured_parallel_to_wind) | Speed Measured Parallel to Wind |
78+
| [VTG](http://aprs.gids.nl/nmea/#vtg) | Track Made Good and Ground Speed |
79+
| [VWR](https://gpsd.gitlab.io/gpsd/NMEA.html#_vwr_relative_wind_speed_and_angle) | Relative Wind Speed and Angle |
80+
| [VWT](./vwt.go) | True Wind Speed and Angle |
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| [WPL](http://aprs.gids.nl/nmea/#wpl) | Waypoint location |
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| [XDR](https://gpsd.gitlab.io/gpsd/NMEA.html#_xdr_transducer_measurement) | Transducer Measurement |
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| [ZDA](http://aprs.gids.nl/nmea/#zda) | Date & time data |
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| Proprietary sentence type | Description |
6186
|-------------------------------------------------------------|-------------------------------------------------------------------------------------------------|
62-
| [PMTK](https://www.rhydolabz.com/documents/25/PMTK_A11.pdf) | Messages for setting and reading commands for MediaTek gps modules. |
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| [PGRME](http://aprs.gids.nl/nmea/#rme) | Estimated Position Error (Garmin proprietary sentence) |
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| [PSONCMS](#) | Quaternion, acceleration, rate of turn, magnetic field, sensor temperature (Xsens IMU/VRU/AHRS) |
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| [PRDID](#) | Vessel pitch, roll and heading (Xsens IMU/VRU/AHRS) |
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| [PHTRO](#) | Vessel pitch and roll (Xsens IMU/VRU/AHRS) |
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| [PMTK](https://www.rhydolabz.com/documents/25/PMTK_A11.pdf) | Messages for setting and reading commands for MediaTek gps modules. |
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| [PRDID](#) | Vessel pitch, roll and heading (Xsens IMU/VRU/AHRS) |
91+
| [PSONCMS](#) | Quaternion, acceleration, rate of turn, magnetic field, sensor temperature (Xsens IMU/VRU/AHRS) |
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If you need to parse a message that contains an unsupported sentence type you can implement and register your own
6994
message parser and get yourself unblocked immediately. Check the example below to know how

‎aam.go‎

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package nmea
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3+
const (
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// TypeAAM type of AAM sentence for Waypoint Arrival Alarm
5+
TypeAAM = "AAM"
6+
)
7+
8+
// AAM - Waypoint Arrival Alarm
9+
// This sentence is generated by some units to indicate the status of arrival (entering the arrival circle, or passing
10+
// the perpendicular of the course line) at the destination waypoint (source: GPSD).
11+
// https://gpsd.gitlab.io/gpsd/NMEA.html#_aam_waypoint_arrival_alarm
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//
13+
// Format: $--AAM,A,A,x.x,N,c--c*hh<CR><LF>
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// Example: $GPAAM,A,A,0.10,N,WPTNME*43
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type AAM struct {
16+
BaseSentence
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// StatusArrivalCircleEntered is warning of arrival to waypoint circle
18+
// * A = Arrival Circle Entered
19+
// * V = not entered
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StatusArrivalCircleEntered string
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22+
// StatusPerpendicularPassed is warning for perpendicular passing of waypoint
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// * A = Perpendicular passed at waypoint
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// * V = not passed
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StatusPerpendicularPassed string
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27+
// ArrivalCircleRadius is radius for arrival circle
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ArrivalCircleRadius float64
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// ArrivalCircleRadiusUnit is unit for arrival circle radius
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ArrivalCircleRadiusUnit string
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// DestinationWaypointID is destination waypoint ID
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DestinationWaypointID string
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}
36+
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// newAAM constructor
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func newAAM(s BaseSentence) (AAM, error) {
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p := NewParser(s)
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p.AssertType(TypeAAM)
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return AAM{
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BaseSentence: s,
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StatusArrivalCircleEntered: p.EnumString(0, "arrival circle entered status", WPStatusArrivalCircleEnteredA, WPStatusArrivalCircleEnteredV),
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StatusPerpendicularPassed: p.EnumString(1, "perpendicularly passed status", WPStatusPerpendicularPassedA, WPStatusPerpendicularPassedV),
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ArrivalCircleRadius: p.Float64(2, "arrival circle radius"),
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ArrivalCircleRadiusUnit: p.EnumString(3, "arrival circle radius units", DistanceUnitKilometre, DistanceUnitNauticalMile, DistanceUnitStatuteMile, DistanceUnitMetre),
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DestinationWaypointID: p.String(4, "destination waypoint ID"),
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}, p.Err()
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}

‎aam_test.go‎

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package nmea
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import (
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"github.com/stretchr/testify/assert"
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"testing"
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)
7+
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func TestAAM(t *testing.T) {
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var tests = []struct {
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name string
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raw string
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err string
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msg AAM
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}{
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{
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name: "good sentence",
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raw: "$GPAAM,A,A,0.10,N,WPTNME*32",
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msg: AAM{
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StatusArrivalCircleEntered: WPStatusArrivalCircleEnteredA,
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StatusPerpendicularPassed: WPStatusPerpendicularPassedA,
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ArrivalCircleRadius: 0.1,
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ArrivalCircleRadiusUnit: DistanceUnitNauticalMile,
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DestinationWaypointID: "WPTNME",
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},
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},
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{
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name: "invalid nmea: StatusArrivalCircleEntered",
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raw: "$GPAAM,x,A,0.10,N,WPTNME*0B",
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err: "nmea: GPAAM invalid arrival circle entered status: x",
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},
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{
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name: "invalid nmea: StatusPerpendicularPassed",
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raw: "$GPAAM,A,x,0.10,N,WPTNME*0B",
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err: "nmea: GPAAM invalid perpendicularly passed status: x",
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},
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{
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name: "invalid nmea: DistanceUnitNauticalMile",
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raw: "$GPAAM,A,A,0.10,x,WPTNME*04",
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err: "nmea: GPAAM invalid arrival circle radius units: x",
40+
},
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}
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for _, tt := range tests {
43+
t.Run(tt.name, func(t *testing.T) {
44+
m, err := Parse(tt.raw)
45+
if tt.err != "" {
46+
assert.Error(t, err)
47+
assert.EqualError(t, err, tt.err)
48+
} else {
49+
assert.NoError(t, err)
50+
aam := m.(AAM)
51+
aam.BaseSentence = BaseSentence{}
52+
assert.Equal(t, tt.msg, aam)
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}
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})
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}
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}

‎ala.go‎

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package nmea
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const (
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// TypeALA type of ALA sentence for System Faults and alarms
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TypeALA = "ALA"
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)
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// ALA - System Faults and alarms
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// Source: "Interfacing Voyage Data Recorder Systems, AutroSafe Interactive Fire-Alarm System, 116-P-BSL336/EE, RevA 2007-01-25,
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// Autronica Fire and Security AS " (page 31 | p.8.1.3)
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// https://product.autronicafire.com/fileshare/fileupload/14251/bsl336_ee.pdf
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//
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// Format: $FRALA,hhmmss,aa,aa,xx,xxx,a,a,c-cc*hh<CR><LF>
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// Example: $FRALA,143955,FR,OT,00,901,N,V,Syst Fault : AutroSafe comm. OK*4F
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type ALA struct {
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BaseSentence
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// Time is Event Time
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Time Time
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// SystemIndicator is system indicator of original alarm source. Detector system type with 2 char identifier.
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// Values not known
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// https://www.nmea.org/Assets/20190303%20nmea%200183%20talker%20identifier%20mnemonics.pdf
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SystemIndicator string
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// SubSystemIndicator is sub system equipment indicator of original alarm source
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SubSystemIndicator string
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// InstanceNumber is instance number of equipment/unit/item (00-99)
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InstanceNumber int64
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// Type is alarm type (000-999)
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Type int64
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// Condition describes the condition triggering current message
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// * N – Normal state (OK)
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// * H - Alarm state (fault);
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// could be more
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Condition string
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// AlarmAckState is Alarm's acknowledge state
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// * A – Acknowledged
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// * H - Harbour mode
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// * V – Not acknowledged
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// * O - Override
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// could be more
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AlarmAckState string
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// Message's description text (could be cut to fit max packet length)
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Message string
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}
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// newALA constructor
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func newALA(s BaseSentence) (ALA, error) {
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p := NewParser(s)
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p.AssertType(TypeALA)
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return ALA{
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BaseSentence: s,
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Time: p.Time(0, "time"),
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SystemIndicator: p.String(1, "system indicator"),
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SubSystemIndicator: p.String(2, "subsystem indicator"),
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InstanceNumber: p.Int64(3, "instance number"),
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Type: p.Int64(4, "type"),
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Condition: p.String(5, "condition"), // string as there could be more
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AlarmAckState: p.String(6, "alarm acknowledgement state"), // string as there could be more
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Message: p.String(7, "message"),
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}, p.Err()
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}

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