OBP60v/nmea0183.py

"""
NMEA0183 verarbeiten

"""

def DBS(boatdata, msg):
    # Wassertiefe unter der Oberfläche
    pass
    #boatdata.setValue("DBS", msg.depth)

def DBT(boatdata, msg):
    # Wassertiefe unter Geber
    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)
    boatdata.setValue("LON", msg.longitude)

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")
    boatdata.setValue("AWA", msg.wind_angle)
    boatdata.setValue("AWS", msg.wind_speed)

def MTW(boatdata, msg):
    # Wassertemperatur
    # boatdata.setValue("WTemp", msg.xxx)
    print("-> MTW Wassertemperatur")

def RMB(boatdata, msg):
    # Recommended Minimum Navigation Information
    # Informationen bzgl. Erreichen des nächsten Wegepunkts
    #
    print("-> RMB")

def RMC(boatdata, msg):
    # 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
    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
    print("-> RTE")
    print(msg.fields)

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?
    sog = float(msg.spd_over_grnd_kts)
    #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")

def XTR(boatdata, msg):
    # Cross Track error gekoppelt
    print("-> XTR")

def ZDA(boatdata, msg):
    # Time and date
    print("-> XTE")
    #boatdata.gpsd
    #boatdata.gpst

# Aus Performancegründen eine direkte Sprungtabelle, ggf. können
# zukünftig außer der Funktion noch weitere Daten gespeichert werdeb
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
}