Merge pull request #59 from semuconsulting/RC-1.0.38

Rc 1.0.38
semuconsulting · Jun 6, 2024 · 730dbcc · 730dbcc
2 parents e374e9f + bdc3f92
commit 730dbcc
Show file tree

Hide file tree

Showing 10 changed files with 179 additions and 3 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -4,5 +4,5 @@
     "editor.formatOnSave": true,
     "modulename": "${workspaceFolderBasename}",
     "distname": "${workspaceFolderBasename}",
-    "moduleversion": "1.0.37",
+    "moduleversion": "1.0.38",
 }
diff --git a/RELEASE_NOTES.md b/RELEASE_NOTES.md
@@ -1,5 +1,23 @@
 # pynmeagps Release Notes
 
+### RELEASE 1.0.38
+
+ENHANCEMENTS:
+
+1. Add Locosys proprietary NMEA GET and SET messages:
+   - $PINVCRES: Clear the NVM data
+   - $PINVCSTR: Start session
+   - $PINVMATTIT: ATTIT information
+   - $PINVMIMU: MEMS RAW-DATA message information
+   - $PINVMINR: Calibration status
+   - $PINVMSTR: Session Status
+   - $PINVMSLOPE: SLOPE information
+   - $PLSC: Set status/poll version
+   - $PLSR: Set status response
+   - $PLSVD: Attitude yaw, pitch, roll
+
+   NB: $PMTKnnn: proprietary command message sets not yet implemented
+
 ### RELEASE 1.0.37
 
 ENHANCEMENTS:

diff --git a/pyproject.toml b/pyproject.toml
@@ -7,7 +7,7 @@ name = "pynmeagps"
 authors = [{ name = "semuadmin", email = "[email protected]" }]
 maintainers = [{ name = "semuadmin", email = "[email protected]" }]
 description = "NMEA protocol parser and generator"
-version = "1.0.37"
+version = "1.0.38"
 license = { file = "LICENSE" }
 readme = "README.md"
 requires-python = ">=3.8"

diff --git a/src/pynmeagps/_version.py b/src/pynmeagps/_version.py
@@ -8,4 +8,4 @@
 :license: BSD 3-Clause
 """
 
-__version__ = "1.0.37"
+__version__ = "1.0.38"
diff --git a/src/pynmeagps/nmeatypes_core.py b/src/pynmeagps/nmeatypes_core.py
@@ -321,6 +321,20 @@
     "FECGPATT": "Attitude yaw, pitch, roll",
     "FECGPHVE": "Heave",
     # ***************************************************************
+    # Locosys Proprietary Messages (GET and SET)
+    # ***************************************************************
+    "INVCRES": "Clear the NVM data",
+    "INVCSTR": "Start session",
+    "INVMATTIT": "ATTIT information",
+    "INVMIMU": "MEMS RAW-DATA message information",
+    "INVMINR": "Calibration status",
+    "INVMSTR": "Session Status",
+    "INVMSLOPE": "SLOPE information",
+    "LSC": "Set status/poll version",
+    "LSR": "Set status response",
+    "LSVD": "Attitude yaw, pitch, roll",
+    # "MTKnnn": "Proprietary command sets - not implemented",
+    # ***************************************************************
     # Dummy message for testing only
     # ***************************************************************
     "FOO": "Dummy message",

diff --git a/src/pynmeagps/nmeatypes_get.py b/src/pynmeagps/nmeatypes_get.py
@@ -1270,6 +1270,51 @@
         "heave": DE,
         "status": CH,  # 'A'
     },
+    # ***************************************************************
+    # Locosys Proprietary Messages GET
+    # https://www.locosystech.com/Templates/att/LS2303x-UDG_datasheet_v0.6.pdf?lng=en
+    # ***************************************************************
+    "LSR": {
+        "msgType": ST,  # e.g. "SLOPE", "MEMS", "ATTIT"
+        "value": IN,  # e.g. 0
+        "response": ST,  # e.g. "OK"
+    },
+    "LSVD": {
+        "velE": DE,  # cm/s
+        "velN": DE,  # cm/s
+        "velD": DE,  # cm/s
+        "velEdev": DE,  # cm/s deviation
+        "velNdev": DE,  # cm/s deviation
+        "velDdev": DE,  # cm/s deviation
+    },
+    "INVMINR": {
+        "status": CH,  # 0 uninitialized; 1、2 calibrating/initializing; 3 calibration done
+    },
+    "INVMSTR": {
+        "value": IN,
+    },
+    "INVMSLOPE": {
+        "slope": DE,  # degrees
+        "altDiff": DE,  # meters
+        "moveDist": DE,  # meters
+        "slopeAccu": DE,  # degrees
+        "altDiffAccu": DE,  # meters
+        "moveDistAccu": DE,  # meters
+    },
+    "INVMIMU": {
+        "timeSecond": DE,  # sec timestamp
+        "accelX": DE,  # m/s^2
+        "accelY": DE,  # m/s^2
+        "accelZ": DE,  # m/s^2
+        "gyroX": DE,  # degree/s
+        "gyroY": DE,  # degree/s
+        "gyroZ": DE,  # degree/s
+    },
+    "INVMATTIT": {
+        "roll": DE,  # degree
+        "pitch": DE,  # degree
+        "yaw": DE,  # degree heading
+    },
     # *********************************************
     # Dummy message for error testing
     # *********************************************

diff --git a/src/pynmeagps/nmeatypes_set.py b/src/pynmeagps/nmeatypes_set.py
@@ -107,4 +107,34 @@
         "baudRate": IN,
         "autobauding": IN,
     },
+    # ***************************************************************
+    # Locosys Proprietary Messages SET
+    # https://www.locosystech.com/Templates/att/LS2303x-UDG_datasheet_v0.6.pdf?lng=en
+    # ***************************************************************
+    "LSC": {
+        "msgType": ST,  # e.g. "SLOPE", "MEMS", "ATTIT", "VER"
+        "value": IN,  # e.g. 0 (not present if msgType == "VER")
+    },
+    "INVCRES": {
+        "value": IN,  # 0 = clear data
+    },
+    "INVCSTR": {
+        "value": IN,  # 14 = start session
+    },
+    "INVMSLOPE": {
+        "status": IN,  # 0 = disable, 1 =  enable
+    },
+    # Proprietary Locosys command sets not yet implemented, e.g.
+    # Perform a Cold start $PMTK103*30
+    # Perform a Warm start $PMTK102*31
+    # Perform a Hot start $PMTK101*32
+    # Perform a Full Cold start $PMTK104*37
+    # Disable GLL message $PMTK314,0,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*29
+    # Disable GSV message $PMTK314,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29
+    # Disable GLL & GSV message $PMTK314,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28
+    # Factory default output message $PMTK314,-1*04
+    # Navigate with GPS+GALILEO $PMTK353,1,0,1,0,0*2B
+    # Navigate with GPS+GLONASS+GALILEO $PMTK353,1,1,1,0,0*2A
+    # Navigate with GPS+BEIDOU $PMTK353,1,0,0,0,1*2B
+    # Entering Standby Mode1 $PMTK161,0*28
 }
diff --git a/tests/locosys_get_nmea.log b/tests/locosys_get_nmea.log
@@ -0,0 +1,11 @@
+$PLSVD,1,0,-16,16,15,13*77
+$PLSR,SLOPE,1,OK*41
+$PLSR,SLOPE,0,OK*40
+$PLSR,MEMS,1,OK*12
+$PLSR,MEMS,0,OK*13
+$PLSR,ATTIT,1,OK*58
+$PLSR,ATTIT,0,OK*59
+$PINVMSTR,0*05
+$PINVMSLOPE,-3.13,-0.05,0.93,54.42,2.60,1.86*3B
+$PINVMIMU,1114.106,-0.36990,1.51074,9.81383,0.67139,0.61035,-0.30518*22
+$PINVMATTIT,-20.652,32.265,0.000*3C
diff --git a/tests/locosys_set_nmea.log b/tests/locosys_set_nmea.log
@@ -0,0 +1,9 @@
+$PINVCRES,0*1A
+$PINVCSTR,14*3E
+$PLSC,SLOPE,1*78
+$PLSC,SLOPE,0*79
+$PLSC,MEMS,1*2B
+$PLSC,MEMS,0*2A
+$PLSC,ATTIT,1*61
+$PLSC,ATTIT,0*60
+$PLSC,VER*61
diff --git a/tests/test_stream.py b/tests/test_stream.py
@@ -21,6 +21,7 @@
     ERR_RAISE,
     ERR_IGNORE,
     ERR_LOG,
+    SET,
 )
 
 DIRNAME = os.path.dirname(__file__)
@@ -444,6 +445,54 @@ def testNMEAKENWOOD(self):  # test proprietary Kenwood messages
                     i += 1
         self.assertEqual(i, 5)
 
+    def testNMEALOCOSYSGET(self):  # test proprietary Locosys GET messages
+        EXPECTED_RESULTS = (
+            "<NMEA(PLSVD, velE=1.0, velN=0.0, velD=-16.0, velEdev=16.0, velNdev=15.0, velDdev=13.0)>",
+            "<NMEA(PLSR, msgType=SLOPE, value=1, response=OK)>",
+            "<NMEA(PLSR, msgType=SLOPE, value=0, response=OK)>",
+            "<NMEA(PLSR, msgType=MEMS, value=1, response=OK)>",
+            "<NMEA(PLSR, msgType=MEMS, value=0, response=OK)>",
+            "<NMEA(PLSR, msgType=ATTIT, value=1, response=OK)>",
+            "<NMEA(PLSR, msgType=ATTIT, value=0, response=OK)>",
+            "<NMEA(PINVMSTR, value=0)>",
+            "<NMEA(PINVMSLOPE, slope=-3.13, altDiff=-0.05, moveDist=0.93, slopeAccu=54.42, altDiffAccu=2.6, moveDistAccu=1.86)>",
+            "<NMEA(PINVMIMU, timeSecond=1114.106, accelX=-0.3699, accelY=1.51074, accelZ=9.81383, gyroX=0.67139, gyroY=0.61035, gyroZ=-0.30518)>",
+            "<NMEA(PINVMATTIT, roll=-20.652, pitch=32.265, yaw=0.0)>",
+        )
+        i = 0
+        raw = 0
+        with open(os.path.join(DIRNAME, "locosys_get_nmea.log"), "rb") as stream:
+            nmr = NMEAReader(stream, nmeaonly=False, quitonerror=2)
+            for raw, parsed in nmr:
+                if raw is not None:
+                    # print(f'"{parsed}",')
+                    self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
+                    i += 1
+        self.assertEqual(i, 11)
+
+    def testNMEALOCOSYSSET(self):  # test proprietary Locosys SET messages
+        EXPECTED_RESULTS = (
+            "<NMEA(PINVCRES, value=0)>",
+            "<NMEA(PINVCSTR, value=14)>",
+            "<NMEA(PLSC, msgType=SLOPE, value=1)>",
+            "<NMEA(PLSC, msgType=SLOPE, value=0)>",
+            "<NMEA(PLSC, msgType=MEMS, value=1)>",
+            "<NMEA(PLSC, msgType=MEMS, value=0)>",
+            "<NMEA(PLSC, msgType=ATTIT, value=1)>",
+            "<NMEA(PLSC, msgType=ATTIT, value=0)>",
+            "<NMEA(PLSC, msgType=VER)>",
+        )
+        i = 0
+        raw = 0
+        with open(os.path.join(DIRNAME, "locosys_set_nmea.log"), "rb") as stream:
+            nmr = NMEAReader(stream, nmeaonly=False, quitonerror=2, msgmode=SET)
+            for raw, parsed in nmr:
+                if raw is not None:
+                    # print(f'"{parsed}",')
+                    self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
+                    i += 1
+        self.assertEqual(i, 9)
+
     def testBADHDR_FAIL(self):  # invalid header in data with quitonerror = 2
         EXPECTED_ERROR = "Unknown protocol header b'$&'."
         with self.assertRaises(NMEAParseError) as context: