Weitere NMEA0183 Daten verarbeiten

nmea0183.py

@@ -13,6 +13,23 @@ def DBT(boatdata, msg):
     pass
     #boatdata.setValue("DBT", msg.depth)
 
+def GGA(boatdata, msg):
+    # Time, position, and fix related data
+    # msg.num_sats
+    # msg.timestamp
+    if msg.gps_qual == 0:
+        # No fix
+        return
+    if msg.lat_dir == 'N':
+        boatdata.setValue("LAT", msg.latitude)
+    else:
+        boatdata.setValue("LAT", msg.latitude * -1)
+    if msg.lon_dir == 'E':
+        boatdata.setValue("LON", msg.longitude)
+    else:
+        boatdata.setValue("LON", msg.longitude * -1)
+    boatdata.setValue("HDOP", msg.horizontal_dil)
+
 def GLL(boatdata, msg):
     print("-> GLL")
     boatdata.setValue("LAT", msg.latitude)
@@ -22,11 +39,32 @@ def GSV(boatdata, msg):
     # Satellites in view
     print("-> GSV")
 
+def HDG(boatdata, msg):
+    # UNUSED: Heading  - Deviation & Variation
+    # Magnetic Sensor heading in degrees
+    # msg.heading
+    # .deviation, dev_dir E/W
+    # .variation, var_dir E/W
+    pass
+
+def HDM(boatdata, msg):
+    # Heading magnetic
+    if msg.magnetic == 'M':
+        boatdata.setValue("HDM", msg.heading)
+    else:
+        print("HDM: M not set!")
+
 def HDT(boatdata, msg):
     # Heading True
     print("-> HDT")
     print(msg.fields)
 
+def HTD(boatdata, msg):
+    # Heading/Track control data
+    # e.g. $YDHTD,V,1.5,,R,N,,,,,,,,,A,,,*48
+    print("-> HTD")
+    print(msg.fields)
+
 def MWV(boatdata, msg):
     # Windgeschwindigkeit und -winkel
     print(f"Wind: {msg.wind_angle}° {msg.wind_speed}kt")
@@ -45,16 +83,37 @@ def RMB(boatdata, msg):
     print("-> RMB")
 
 def RMC(boatdata, msg):
-    print("-> RMC")
-    #boatdata.setValue("LAT", msg.lat)
-    #boatdata.setValue("LON", msg.lon)
+    # Recommended Minimum Navigation Information
+    # print("-> RMC")
+    # print(msg.timestamp, msg.datestamp)
+    # print(msg.status) # V=Warning, P=Precise, A=?
+    # mag_variation, mag_var_dir E/W
+    # true_course
+    if msg.lat_dir == 'N':
+        boatdata.setValue("LAT", msg.lat)
+    else:
+        boatdata.setValue("LAT", msg.lat) * -1
+    if msg.lon_dir == 'E':
+        boatdata.setValue("LON", msg.lon)
+    else:
+        boatdata.setValue("LON", msg.lon) * -1
+    boatdata.setValue("SOG", msg.spd_over_grnd)
+
+def ROT(boatdata, msg):
+    # Rate Of Turn
+    # print("-> ROT")
+    if msg.status == 'A':
+        boatdata.setValue("ROT", msg.rate_of_turn)
 
 def RSA(boatdata, msg):
     # Rudder Sensor Angle
     # negative Werte bedeuten Backbord
+    #print("-> RSA")
     # Boatdata: RPOS primär, PRPOS sekundär
-    print("-> RSA")
-    print(msg.fields)
+    if msg.rsa_starboard_status== 'A':
+        boatdata.setValue("RPOS", msg.rsa_starboard)
+    if msg.rsa_port_status == 'A':
+        boatdata.setValue("PRPOS", msg.rsa_port)
 
 def RTE(boatdata, msg):
     # Route
@@ -65,9 +124,16 @@ def VBW(boatdata, msg):
     print("-> VBW")
 
 def VHW(boatdata, msg):
+    print("-> VHW")
     boatdata.setValue("STW", float(msg.water_speed_knots))
 
+def VPW(boatdata, msg):
+    # UNUSED: Speed - Measured Parallel to Wind
+    # print(f"-> VPW: {msg.speed_kn} kn")
+    pass
+
 def VTG(boatdata, msg):
+    print("-> VTG")
     boatdata.setValue("COG", int(msg.true_track))
     #TODO klären was für Typen hier ankommen können
     # bytearray, str, decimal.Decimal?
@@ -75,10 +141,40 @@ def VTG(boatdata, msg):
     #str von OpenCPN: sog = float(msg.spd_over_grnd_kts[:-1])
     boatdata.setValue("SOG", sog)
 
+def VWR(boatdata, msg):
+    # Relative Wind Speed and Angle
+    #print("-> VWR")
+    if msg.l_r == "R":
+        angle = msg.deg_r
+    else:
+        angle = 360 - msg.deg_r 
+    boatdata.setValue("AWA", angle)
+    boatdata.setValue("AWS", msg.wind_speed_ms)
+
 def WPL(boatdata, msg):
     print("-> WPL")
     print(msg.fields)
 
+def VWT(boatdata, msg):
+    # True Wind Speed and Angle
+    if msg.direction == "R":
+        angle = msg.wind_angle_vessel
+    else:
+        angle = 360 - msg.wind_angle_vessel 
+    boatdata.setValue("TWA", angle)
+    boatdata.setValue("TWS", msg.wind_speed_meters)
+
+def XDR(boatdata, msg):
+    # Extra sensor data / Transducer Measurement
+    # type, value, units, id
+    # type: A
+    # units: D
+    # id: Yaw
+    if msg.id.lower() == 'yaw':
+        boatdata.setValue("YAW", msg.value)
+    else:
+        print(f"-> XDR: {msg.type}, {msg.value}, {msg.units}, {msg.id}")
+
 def XTE(boatdata, msg):
     # Cross Track error measured
     print("-> XTE")
@@ -98,18 +194,27 @@ def ZDA(boatdata, msg):
 decoder = {
     "DBS": DBS,
     "DBT": DBT,
+    "GGA": GGA,
     "GLL": GLL,
     "GSV": GSV,
+    "HDG": HDG,
+    "HDM": HDM,
+    "HTD": HTD,
     "MWV": MWV,
     "MTW": MTW,
     "RMB": RMB,
+    "ROT": ROT,
     "RMC": RMC,
     "RSA": RSA,
     "RTE": RTE,
     "VBW": VBW,
     "VHW": VHW,
+    "VPW": VPW,
     "VTG": VTG,
+    "VWR": VWR,
+    "VWT": VWT,
     "WPL": WPL,
+    "XDR": XDR,
     "XTE": XTE,
     "XTR": XTR,
     "ZDA": ZDA