Add decoding support for RMC messages from Galileo, GLONASS, GNSS

README.md

@@ -7,7 +7,7 @@
 [![General Formatting Checks](https://github.com/107-systems/107-Arduino-NMEA-Parser/workflows/General%20Formatting%20Checks/badge.svg)](https://github.com/107-systems/107-Arduino-NMEA-Parser/actions?workflow=General+Formatting+Checks)
 [![Spell Check](https://github.com/107-systems/107-Arduino-NMEA-Parser/workflows/Spell%20Check/badge.svg)](https://github.com/107-systems/107-Arduino-NMEA-Parser/actions?workflow=Spell+Check)
 
-Arduino library for interfacing with any GPS module and interpreting its NMEA messages.
+Arduino library for interfacing with any GPS, GLONASS, Galileo or GNSS module and interpreting its NMEA messages.
 
 <p align="center">
   <a href="https://github.com/107-systems/107-Arduino-Viper"><img src="extras/logo/viper-logo.jpg" width="40%"></a>
@@ -17,7 +17,7 @@ Arduino library for interfacing with any GPS module and interpreting its NMEA me
 ```C++
 #include <ArduinoNmeaParser.h>
 /* ... */
-void onGprmcUpdate(nmea::RmcData const rmc)
+void onRmcUpdate(nmea::RmcData const rmc)
 {
   Serial.print(rmc.time_utc.hour);
   Serial.print(":");
@@ -43,7 +43,7 @@ void onGprmcUpdate(nmea::RmcData const rmc)
   Serial.println();
 }
 /* ... */
-ArduinoNmeaParser parser(onGprmcUpdate);
+ArduinoNmeaParser parser(onRmcUpdate);
 /* ... */
 void setup() {
   Serial.begin(9600);

examples/NMEA-Basic/NMEA-Basic.ino

@@ -24,13 +24,13 @@
  * FUNCTION DECLARATION
  **************************************************************************************/
 
-void onGprmcUpdate(nmea::RmcData const);
+void onRmcUpdate(nmea::RmcData const);
 
 /**************************************************************************************
  * GLOBAL VARIABLES
  **************************************************************************************/
 
-ArduinoNmeaParser parser(onGprmcUpdate);
+ArduinoNmeaParser parser(onRmcUpdate);
 
 /**************************************************************************************
  * SETUP/LOOP
@@ -53,8 +53,14 @@ void loop()
  * FUNCTION DEFINITION
  **************************************************************************************/
 
-void onGprmcUpdate(nmea::RmcData const rmc)
+void onRmcUpdate(nmea::RmcData const rmc)
 {
+  if      (rmc.source == nmea::RmcSource::GPS)     Serial.print("GPS");
+  else if (rmc.source == nmea::RmcSource::GLONASS) Serial.print("GLONASS");
+  else if (rmc.source == nmea::RmcSource::Galileo) Serial.print("Galileo");
+  else if (rmc.source == nmea::RmcSource::GNSS)    Serial.print("GNSS");
+
+  Serial.print(" ");
   Serial.print(rmc.time_utc.hour);
   Serial.print(":");
   Serial.print(rmc.time_utc.minute);

extras/test/CMakeLists.txt

@@ -24,12 +24,13 @@ set(TEST_TARGET testNmeaParser)
 set(TEST_SRCS
   src/test_ArduinoNmeaParser.cpp
   src/test_checksum.cpp
-  src/test_GPRMC.cpp
+  src/test_GxRMC.cpp
   src/test_main.cpp
+  src/test_rmc.cpp
 
   ../../src/nmea/util/checksum.cpp
-  ../../src/nmea/util/gprmc.cpp
-  ../../src/nmea/GPRMC.cpp
+  ../../src/nmea/util/rmc.cpp
+  ../../src/nmea/GxRMC.cpp
   ../../src/ArduinoNmeaParser.cpp
 )
 

extras/test/src/test_ArduinoNmeaParser.cpp

@@ -41,6 +41,7 @@ TEST_CASE("No NMEA message received", "[Parser-01]")
 
   REQUIRE(parser.error()                              == ArduinoNmeaParser::Error::None);
   REQUIRE(parser.rmc().is_valid                       == false);
+  REQUIRE(parser.rmc().source                         == nmea::RmcSource::Unknown);
   REQUIRE(std::isnan(parser.rmc().latitude)           == true);
   REQUIRE(std::isnan(parser.rmc().longitude)          == true);
   REQUIRE(parser.rmc().time_utc.hour                  == -1);
@@ -65,6 +66,7 @@ TEST_CASE("RMC message after startup, no satellites", "[Parser-02]")
 
   REQUIRE(parser.error()                              == ArduinoNmeaParser::Error::None);
   REQUIRE(parser.rmc().is_valid                       == false);
+  REQUIRE(parser.rmc().source                         == nmea::RmcSource::GPS);
   REQUIRE(std::isnan(parser.rmc().latitude)           == true);
   REQUIRE(std::isnan(parser.rmc().longitude)          == true);
   REQUIRE(parser.rmc().time_utc.hour                  == -1);
@@ -89,6 +91,7 @@ TEST_CASE("RMC message after startup, time fix available", "[Parser-03]")
 
   REQUIRE(parser.error()                              == ArduinoNmeaParser::Error::None);
   REQUIRE(parser.rmc().is_valid                       == false);
+  REQUIRE(parser.rmc().source                         == nmea::RmcSource::GPS);
   REQUIRE(std::isnan(parser.rmc().latitude)           == true);
   REQUIRE(std::isnan(parser.rmc().longitude)          == true);
   REQUIRE(parser.rmc().time_utc.hour                  == 14);
@@ -112,6 +115,7 @@ TEST_CASE("Decoding starts mid-message", "[Parser-04]")
   encode(parser, GPRMC);
 
   REQUIRE(parser.rmc().is_valid             == true);
+  REQUIRE(parser.rmc().source               == nmea::RmcSource::GPS);
   REQUIRE(parser.rmc().latitude             == Approx(52.514467));
   REQUIRE(parser.rmc().longitude            == Approx(13.349300));
   REQUIRE(parser.rmc().speed                == Approx(39.6122));
@@ -157,6 +161,11 @@ TEST_CASE("Multiple NMEA messages received", "[Parser-07]")
     std::string("$GPRMC,142600.00,A,4837.99474,N,01301.53452,E,27.920,247.03,121020,,,A*5A\r\n")
   };
 
+  std::vector<nmea::RmcSource> const SOURCE_EXPECTED =
+  {
+    nmea::RmcSource::GPS, nmea::RmcSource::GPS, nmea::RmcSource::GPS, nmea::RmcSource::GPS, nmea::RmcSource::GPS
+  };
+
   std::vector<float> const LATITUDE_EXPECTED =
   {
     52.514467f, 52.514800f, 52.515017f, 52.514900f, 48.633246f
@@ -198,6 +207,7 @@ TEST_CASE("Multiple NMEA messages received", "[Parser-07]")
   };
 
 
+  auto source    = SOURCE_EXPECTED.begin();
   auto latitude  = LATITUDE_EXPECTED.begin();
   auto longitude = LONGITUDE_EXPECTED.begin();
   auto speed     = SPEED_EXPECTED.begin();
@@ -214,6 +224,7 @@ TEST_CASE("Multiple NMEA messages received", "[Parser-07]")
                   encode(parser, gprmc);
 
                   REQUIRE(parser.error()          == ArduinoNmeaParser::Error::None);
+                  REQUIRE(parser.rmc().source     == *source);
                   REQUIRE(parser.rmc().latitude   == Approx(*latitude));
                   REQUIRE(parser.rmc().longitude  == Approx(*longitude));
                   REQUIRE(parser.rmc().speed      == Approx(*speed));
@@ -225,6 +236,7 @@ TEST_CASE("Multiple NMEA messages received", "[Parser-07]")
                   if (std::isnan(*mag_var)) REQUIRE(std::isnan(parser.rmc().magnetic_variation) == true);
                   else                      REQUIRE(parser.rmc().magnetic_variation == Approx(*mag_var));
 
+                  source    = std::next(source);
                   latitude  = std::next(latitude);
                   longitude = std::next(longitude);
                   speed     = std::next(speed);

extras/test/src/test_GPRMC.cpp → extras/test/src/test_GxRMC.cpp

@@ -15,7 +15,7 @@
 
 #include <catch.hpp>
 
-#include <nmea/GPRMC.h>
+#include <nmea/GxRMC.h>
 
 /**************************************************************************************
  * GLOBAL VARIABLES
@@ -27,13 +27,13 @@ static nmea::RmcData data;
  * TEST CODE
  **************************************************************************************/
 
-SCENARIO("Extracting latitude/longiture from valid GPRMC message", "[GPRMC-01]")
+SCENARIO("Extracting latitude/longiture from valid GPRMC message", "[GxRMC-01]")
 {
   WHEN("north/east")
   {
     std::string const GPRMC = "$GPRMC,062101.714,A,5001.869,N,01912.114,E,955535.7,116.2,290520,000.0,W*45\r\n";
 
-    REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+    REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
     REQUIRE(data.latitude  == Approx(50.03114442));
     REQUIRE(data.longitude == Approx(19.20189679));
   }
@@ -42,7 +42,7 @@ SCENARIO("Extracting latitude/longiture from valid GPRMC message", "[GPRMC-01]")
   {
     std::string const GPRMC = "$GPRMC,122311.239,A,4056.748,N,11212.614,W,,,290620,000.0,W*63\r\n";
 
-    REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+    REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
     REQUIRE(data.latitude  == Approx(40.9458060446613));
     REQUIRE(data.longitude == Approx(-112.210235595703));
   }
@@ -51,7 +51,7 @@ SCENARIO("Extracting latitude/longiture from valid GPRMC message", "[GPRMC-01]")
   {
     std::string const GPRMC = "$GPRMC,122311.239,A,2727.069,S,05859.190,W,,,290620,000.0,W*76\r\n";
 
-    REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+    REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
     REQUIRE(data.latitude  == Approx(-27.4511422937699));
     REQUIRE(data.longitude == Approx(-58.986502289772));
   }
@@ -60,67 +60,83 @@ SCENARIO("Extracting latitude/longiture from valid GPRMC message", "[GPRMC-01]")
   {
     std::string const GPRMC = "$GPRMC,122311.239,A,0610.522,S,10649.632,E,,,290620,000.0,W*6D\r\n";
 
-    REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+    REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
     REQUIRE(data.latitude  == Approx(-6.17536097471491));
     REQUIRE(data.longitude == Approx(106.827192306519));
   }
 }
 
-TEST_CASE("Extracting speed over ground from valid GPRMC message", "[GPRMC-02]")
+SCENARIO("Extracting satellite system from valid GxRMC message", "[GxRMC-02]")
+{
+  WHEN("GPS")
+  {
+    std::string const GPRMC = "$GPRMC,122311.239,A,0610.522,S,10649.632,E,,,290620,000.0,W*6D\r\n";
+    nmea::GxRMC::parse(GPRMC.c_str(), data);
+    REQUIRE(data.source == nmea::RmcSource::GPS);
+  }
+  WHEN("GNSS")
+  {
+    std::string const GNSS = "$GNRMC,090348.80,A,4838.00682,N,01301.61381,E,1.533,,301020,,,A*61\r\n";
+    nmea::GxRMC::parse(GNSS.c_str(), data);
+    REQUIRE(data.source == nmea::RmcSource::GNSS);
+  }
+}
+
+TEST_CASE("Extracting speed over ground from valid GPRMC message", "[GxRMC-03]")
 {
   std::string const GPRMC = ("$GPRMC,052856.105,A,5230.874,N,01321.056,E,085.7,206.4,080720,000.0,W*78\r\n");
 
-  REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+  REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
   /* 85.7 kts ~= 44.088 m/s */
   REQUIRE(data.speed == Approx(44.088f));
 }
 
-TEST_CASE("Extracting track angle from valid GPRMC message", "[GPRMC-03]")
+TEST_CASE("Extracting track angle from valid GPRMC message", "[GxRMC-04]")
 {
   std::string const GPRMC = ("$GPRMC,052856.105,A,5230.874,N,01321.056,E,085.7,206.4,080720,000.0,W*78\r\n");
 
-  REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+  REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
   REQUIRE(data.course == Approx(206.4f));
 }
 
-TEST_CASE("Extracting position time from valid GPRMC message", "[GPRMC-04]")
+TEST_CASE("Extracting position time from valid GPRMC message", "[GxRMC-05]")
 {
   std::string const GPRMC = ("$GPRMC,052856.105,A,5230.874,N,01321.056,E,085.7,206.4,080720,000.0,W*78\r\n");
 
-  REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+  REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
   /* 052856.105 -> 05:28:56.105 -> */
   REQUIRE(data.time_utc.hour        == 5);
   REQUIRE(data.time_utc.minute      == 28);
   REQUIRE(data.time_utc.second      == 56);
   REQUIRE(data.time_utc.microsecond == 105);
 }
 
-TEST_CASE("Extracting date from valid GPRMC message", "[GPRMC-05]")
+TEST_CASE("Extracting date from valid GPRMC message", "[GxRMC-06]")
 {
   std::string const GPRMC = ("$GPRMC,052856.105,A,5230.874,N,01321.056,E,085.7,206.4,080720,000.0,W*78\r\n");
 
-  REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+  REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
   REQUIRE(data.date.day   == 8);
   REQUIRE(data.date.month == 7);
   REQUIRE(data.date.year  == 2020);
 }
 
-TEST_CASE("Extracting magnetic variation from valid GPRMC message", "[GPRMC-06]")
+TEST_CASE("Extracting magnetic variation from valid GPRMC message", "[GxRMC-07]")
 {
   std::string const GPRMC = ("$GPRMC,052856.105,A,5230.874,N,01321.056,E,085.7,206.4,080720,000.0,W*78\r\n");
 
-  REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+  REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
   REQUIRE(data.magnetic_variation == Approx(0.0));
 }
 
-TEST_CASE("Extracted status indicates void ('V') position data", "[GPRMC-07]")
+TEST_CASE("Extracted status indicates void ('V') position data", "[GxRMC-08]")
 {
   std::string const GPRMC = ("$GPRMC,052856.105,V,5230.874,N,01321.056,E,085.7,206.4,080720,000.0,W*78\r\n");
 
   data.latitude = 1.0f; data.longitude = 2.0f; data.speed = 3.0f; data.course = 4.0f;
   data.time_utc.hour = -1; data.time_utc.minute = -1; data.time_utc.second = -1; data.time_utc.microsecond = -1;
 
-  REQUIRE(nmea::GPRMC::parse(GPRMC.c_str(), data) == true);
+  REQUIRE(nmea::GxRMC::parse(GPRMC.c_str(), data) == true);
   REQUIRE(data.latitude             == 1.0f);
   REQUIRE(data.longitude            == 2.0f);
   REQUIRE(data.speed                == 3.0f);

extras/test/src/test_rmc.cpp

@@ -0,0 +1,63 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020 LXRobotics.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/107-Arduino-NMEA-Parser/graphs/contributors.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <catch.hpp>
+
+#include <nmea/util/rmc.h>
+
+/**************************************************************************************
+ * TEST CODE
+ **************************************************************************************/
+
+TEST_CASE ("Testing 'rmc_isGPRMC(...)' with valid and invalid GPRMC NMEA messages", "[rmc_isGPRMC-01]")
+{
+  WHEN ("a valid GPRMC NMEA message")
+    REQUIRE (nmea::util::rmc_isGPRMC("$GPRMC") == true);
+  WHEN ("a invalid GPRMC NMEA message")
+    REQUIRE (nmea::util::rmc_isGPRMC("$GARMC") == false);
+}
+
+TEST_CASE ("Testing 'rmc_isGLRMC(...)' with valid and invalid GLRMC NMEA messages", "[rmc_isGLRMC-01]")
+{
+  WHEN ("a valid GLRMC NMEA message")
+    REQUIRE (nmea::util::rmc_isGLRMC("$GLRMC") == true);
+  WHEN ("a invalid GLRMC NMEA message")
+    REQUIRE (nmea::util::rmc_isGLRMC("$GARMC") == false);
+}
+
+TEST_CASE ("Testing 'rmc_isGARMC(...)' with valid and invalid GARMC NMEA messages", "[rmc_isGARMC-01]")
+{
+  WHEN ("a valid GARMC NMEA message")
+    REQUIRE (nmea::util::rmc_isGARMC("$GARMC") == true);
+  WHEN ("a invalid GARMC NMEA message")
+    REQUIRE (nmea::util::rmc_isGARMC("$GLRMC") == false);
+}
+
+TEST_CASE ("Testing 'rmc_isGNRMC(...)' with valid and invalid GNRMC NMEA messages", "[rmc_isGNRMC-01]")
+{
+  WHEN ("a valid GNRMC NMEA message")
+    REQUIRE (nmea::util::rmc_isGNRMC("$GNRMC") == true);
+  WHEN ("a invalid GNRMC NMEA message")
+    REQUIRE (nmea::util::rmc_isGNRMC("$GARMC") == false);
+}
+
+TEST_CASE ("Testing 'rmc_isGxRMC(...)' with valid and invalid G(P|L|A|N)RMC NMEA messages", "[rmc_isGxRMC-01]")
+{
+  WHEN ("a valid G(P|L|A|N)RMC NMEA message")
+  {
+    REQUIRE (nmea::util::rmc_isGxRMC("$GPRMC") == true);
+    REQUIRE (nmea::util::rmc_isGxRMC("$GLRMC") == true);
+    REQUIRE (nmea::util::rmc_isGxRMC("$GARMC") == true);
+    REQUIRE (nmea::util::rmc_isGxRMC("$GNRMC") == true);
+  }
+  WHEN ("a invalid G(P|L|A|N)RMC NMEA message")
+    REQUIRE (nmea::util::rmc_isGxRMC("$GIRMC") == false);
+}

library.properties

@@ -2,7 +2,7 @@ name=107-Arduino-NMEA-Parser
 version=1.0.3
 author=Alexander Entinger <consulting@lxrobotics.com>
 maintainer=Alexander Entinger <consulting@lxrobotics.com>
-sentence=Arduino library for interfacing with any GPS module and interpreting its NMEA messages.
+sentence=Arduino library for interfacing with any GPS, GLONASS, Galileo or GNSS module and interpreting its NMEA messages.
 paragraph=
 category=Communication
 url=https://github.com/107-systems/107-Arduino-NMEA-Parser