Merge pull request #5 from sarfata/ronzeiller/parse-attitude

Ronzeiller/parse attitude
sarfata · Jan 4, 2018 · e9b3c0c · e9b3c0c
2 parents c9e0489 + 6a0dddd
commit e9b3c0c
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Showing 7 changed files with 26 additions and 35 deletions.
diff --git a/README.md b/README.md
@@ -192,7 +192,11 @@ been possible!**
 
 ## Changelog
 
- * 2017 12 28
+ * 2018 01 04
+   * Add support for parsing PGN127257 Attitude (roll/pitch/yaw)
+   * Also improved the output in NMEA and SignalK format when some attitude
+   values are unknown
+  * 2017 12 28
    * KBox now supports a configuration file (`kbox-config.json`) on the sdcard.
    * KBox supports sending data to NMEA outputs
    * Generated NMEA sentences can be configured independently for each output

diff --git a/src/common/signalk/SKNMEA2000Parser.cpp b/src/common/signalk/SKNMEA2000Parser.cpp
@@ -46,38 +46,29 @@ const SKUpdate& SKNMEA2000Parser::parse(const SKSourceInput& input, const tN2kMs
 
   switch (msg.PGN) {
     case 126992L: // System Time / Date
-        return parse126992(input, msg, timestamp);
-      break;
+      return parse126992(input, msg, timestamp);
     case 127245L: // Rudder
-        return parse127245(input, msg, timestamp);
-      break;
+      return parse127245(input, msg, timestamp);
     case 127250L: // Vessel Heading
-        return parse127250(input, msg, timestamp);
-      break;
+      return parse127250(input, msg, timestamp);
     //case 127251L: // Rate of Turn
     case 127257L: // Attitude Yaw, Pitch, Roll
-        return parse127257(input, msg, timestamp);
-      break;
+      return parse127257(input, msg, timestamp);
     //case 127258L:  // Magnetic Variation
     //    return parse127258(input, msg, timestamp);
     //  break;
     case 128259L: // Boat speed
-        return parse128259(input, msg, timestamp);
-      break;
+      return parse128259(input, msg, timestamp);
     case 128267L: // Water depth
-        return parse128267(input, msg, timestamp);
-      break;
+      return parse128267(input, msg, timestamp);
     //case 128275L: // Distance Log
     case 129025L: // Position, Rapid Update Lat/Lon
-        return parse129025(input, msg, timestamp);
-      break;
+      return parse129025(input, msg, timestamp);
     case 129026L: // COG SOG rapid
-        return parse129026(input, msg, timestamp);
-      break;
+      return parse129026(input, msg, timestamp);
     //case 129301L:  // Time to/from Mark
     case 130306L: // Wind Speed
-        return parse130306(input, msg, timestamp);
-      break;
+      return parse130306(input, msg, timestamp);
 
     //case 127488: // Engine parameters rapid
     //case 127493: // Transmission parameters: dynamic

diff --git a/src/common/signalk/SKNMEAConverter.cpp b/src/common/signalk/SKNMEAConverter.cpp
@@ -101,19 +101,13 @@ void SKNMEAConverter::convert(const SKUpdate& update, SKNMEAOutput& output) {
     output.write(sb.toNMEA());
   }
 
-  if (_config.mwv &&
-      update.hasEnvironmentWindAngleApparent() &&
-      update.hasEnvironmentWindSpeedApparent() &&
-      update.getEnvironmentWindAngleApparent() != SKDoubleNAN &&
-      update.getEnvironmentWindSpeedApparent() != SKDoubleNAN) {
+  if (_config.mwv && update.hasEnvironmentWindAngleApparent()
+      && update.hasEnvironmentWindSpeedApparent()) {
     generateMWV(output, update.getEnvironmentWindAngleApparent(), update.getEnvironmentWindSpeedApparent(), true);
   }
 
-  if (_config.mwv &&
-      update.hasEnvironmentWindAngleTrueWater() &&
-      update.hasEnvironmentWindSpeedTrue() &&
-      update.getEnvironmentWindAngleTrueWater() != SKDoubleNAN &&
-      update.getEnvironmentWindSpeedTrue() != SKDoubleNAN) {
+  if (_config.mwv && update.hasEnvironmentWindAngleTrueWater()
+      && update.hasEnvironmentWindSpeedTrue()) {
     generateMWV(output, update.getEnvironmentWindAngleTrueWater(), update.getEnvironmentWindSpeedTrue(), false);
   }
 

diff --git a/src/common/signalk/SKNMEAParser.cpp b/src/common/signalk/SKNMEAParser.cpp
@@ -76,7 +76,9 @@ const SKUpdate& SKNMEAParser::parseRMC(const SKSourceInput& input, NMEASentenceR
   double cog = SKDegToRad(reader.getFieldAsDouble(8));
 
   if (!isnan(latitude) && !isnan(longitude)) {
-    rmc->setValue(SKPathNavigationPosition, SKTypePosition(latitude, longitude, 0));
+    rmc->setValue(SKPathNavigationPosition, SKTypePosition(latitude,
+                                                           longitude,
+                                                           SKDoubleNAN));
   }
   if (!isnan(sog)) {
     rmc->setValue(SKPathNavigationSpeedOverGround, sog);

diff --git a/src/sktool/tests/rmc.json b/src/sktool/tests/rmc.json
@@ -2,10 +2,10 @@
   {
     "nmea": "$GPRMC,004119.000,A,3751.3385,N,12227.4913,W,5.02,235.24,141116,,,D*75",
     "expectedValues": [
-      { "path": "navigation.position", "value": { "latitude": 37.85564166666666, "longitude": -122.45818833333334 } },
+      { "path": "navigation.position",
+        "value": { "latitude": 37.85564167, "longitude": -122.4581883 } },
       { "path": "navigation.speedOverGround", "value": 2.582511111 },
       { "path": "navigation.courseOverGroundTrue", "value": 4.105712532 }
     ]
-    ,"ignoreFail": true
   }
 ]
diff --git a/src/test/signalk/SKNMEA2000ParserTest.cpp b/src/test/signalk/SKNMEA2000ParserTest.cpp
@@ -97,12 +97,12 @@ TEST_CASE("SKNMEA2000Parser: Basic tests") {
     CHECK( update.getNavigationAttitude().roll  == Approx(SKDegToRad(3.2)).epsilon(0.0001) );
   }
 
-  SECTION("127275: NavigationAttitude Heel, Pitch, Yaw = NaN = N2kDoubleNA = -1e9") {
+  SECTION("127275: NavigationAttitude Heel, Pitch, Yaw = SKDoubleNAN = N2kDoubleNA = -1e9") {
     // SID, yaw, pitch, roll in radians
     SetN2kAttitude(msg, 0, N2kDoubleNA, SKDegToRad(-2.3), SKDegToRad(3.2));
     const SKUpdate &update = p.parse(SKSourceInputNMEA2000, msg, SKTime(0));
     CHECK( update.getSize() == 1);
-    CHECK( update.getNavigationAttitude().yaw   == -1e9 );
+    CHECK( update.getNavigationAttitude().yaw   == SKDoubleNAN );
     CHECK( update.getNavigationAttitude().pitch == Approx(SKDegToRad(-2.3)).epsilon(0.0001) );
     CHECK( update.getNavigationAttitude().roll  == Approx(SKDegToRad(3.2)).epsilon(0.0001) );
   }

diff --git a/src/test/signalk/SKNMEAParserTest.cpp b/src/test/signalk/SKNMEAParserTest.cpp
@@ -46,7 +46,7 @@ TEST_CASE("SKNMEAParser: RMC") {
     CHECK( update.getNavigationCourseOverGroundTrue() == SKDegToRad(235.24) );
     CHECK( update.getNavigationPosition().latitude == 37.85564166666666 );
     CHECK( update.getNavigationPosition().longitude == -122.45818833333334 );
-    CHECK( update.getNavigationPosition().altitude == 0 );
+    CHECK( update.getNavigationPosition().altitude == SKDoubleNAN );
   }
 
   SECTION("RMC with invalid fix") {