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Feature/ais6 235 10 #195

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2779fab
add ais6_235_10 logic
pierregarreau May 22, 2019
c8a0da4
better indentation :)
pierregarreau May 22, 2019
85d0054
write test
pierregarreau May 22, 2019
6f3b416
fix broken test from develop
pierregarreau May 22, 2019
f18a673
PR
pierregarreau May 24, 2019
eaaa3a6
PR 2 round
pierregarreau May 28, 2019
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17 changes: 17 additions & 0 deletions src/libais/ais.h
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Original file line number Diff line number Diff line change
Expand Up @@ -850,6 +850,23 @@ class Ais6_1_40 : public Ais6 {
};
ostream& operator<< (ostream &o, const Ais6_1_40 &msg);

// Number of persons on board. ITU 1371-1
class Ais6_235_10 : public Ais6 {
public:
float ana_int;
float ana_ext1;
float ana_ext2;
int racon;
int light;
bool health;
int stat_ext;
bool off_pos;
int spare2;

Ais6_235_10(const char *nmea_payload, const size_t pad);
};
ostream& operator<< (ostream &o, const Ais6_235_10 &msg);

//////////////////////////////////////////////////////////////////////

// 7 and 13 are ACKs for msg 6 and 12
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35 changes: 34 additions & 1 deletion src/libais/ais6.cpp
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Expand Up @@ -27,7 +27,7 @@ Ais6::Ais6(const char *nmea_payload, const size_t pad)
bits.SeekTo(38);
seq = bits.ToUnsignedInt(38, 2);
mmsi_dest = bits.ToUnsignedInt(40, 30);
retransmit = !bits[70];
retransmit = static_cast<bool>(bits[70]);
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The ! not is missing. Also, why is a static_cast<bool> better?

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From ais type 6 documentation, it should not be negated !:

70 1 Retransmit flag retransmit b 0 = no retransmit (default) 1 = retransmitted

The decoding of the messages type 6 from the tests:

    {
        'nmea': ['!AIVDM,1,1,,A,63m95T8uBK:0044@00P,2*7A'],
        'result': {
            'id': 6,
            'repeat_indicator': 0,
            'mmsi': 257050000,
            'seq': 2,
            'mmsi_dest': 257060000,
            'retransmit': True,
            'spare': 0,
            'dac': 1,
            'fi': 1,
            'ack_dac': 64,
            'msg_seq': 1,
            'spare2': 0}},
    {
        'nmea': ['!AIVDM,1,1,,B,65@<;:1inW@h0480J0,4*60'],
        'result': {
            'id': 6,
            'repeat_indicator': 0,
            'mmsi': 352521000,
            'seq': 0,
            'mmsi_dest': 477535500,
            'retransmit': True,
            'spare': 0,
            'dac': 1,
            'fi': 2,
            'req_dac': 1,
            'req_fi': 40}}

are not correct, as confirmed by decoding the AIS messages for instance here.

Therefore changed tests that are affected + this line.

@schwehr reverted to not using static_cast<bool>.

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Please use original source documentation for AIS message 6. I certainly could have been wrong, but unless you quote an official standard like ITU M.1371, I am not going to change it. gpsd aivdm docs were written by ESR with feedback from me before ITU M.1371 was freely available. I had a purchased copy; ESR did not.

So, I believe that I set this up as a bool called retransmit based on discussions at RTCM SC121 back in the 2007-2009 time frame.

3.4 Message 6: Addressed binary message; table 54:

Retransmit flag 1 Retransmit flag should be set upon retransmission: 0 = no retransmission =
default; 1 = retransmitted

I took the flag as a should retransmit.

No matter the correct answer, changing it in this pr is out of scope. Please don't do it here.

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@schwehr you are right, topic is out of scope for this PR. Will use original source doc in another issue. 👍

Reverted.

spare = bits[71];
dac = bits.ToUnsignedInt(72, 10);
fi = bits.ToUnsignedInt(82, 6);
Expand Down Expand Up @@ -561,4 +561,37 @@ Ais6_1_40::Ais6_1_40(const char *nmea_payload, const size_t pad)
status = AIS_OK;
}

// This message provides AtoN (Aid to navigation) monitoring data for the General Lighthouse Authorities (GLA)
Ais6_235_10::Ais6_235_10(const char *nmea_payload, const size_t pad)
: Ais6(nmea_payload, pad), ana_int(0.0), ana_ext1(0.0), ana_ext2(0.0), racon(0), light(0), health(0), stat_ext(0), off_pos(0), spare2(0) {
assert(dac == 235);
assert(fi == 10);

if (num_bits != 136) {
status = AIS_ERR_BAD_BIT_COUNT;
return;
}

AisBitset bs;
const AIS_STATUS r = bits.ParseNmeaPayload(nmea_payload, pad);
if (r != AIS_OK) {
status = r;
return;
}

bits.SeekTo(88);
ana_int = bits.ToUnsignedInt(88, 10) / 20.;
ana_ext1 = bits.ToUnsignedInt(98, 10) / 20.;
ana_ext2 = bits.ToUnsignedInt(108, 10) / 20.;
racon = bits.ToUnsignedInt(118, 2);
light = bits.ToUnsignedInt(120, 2);
health = static_cast<bool>(bits[122]);
stat_ext = bits.ToUnsignedInt(123, 8);
off_pos = static_cast<bool>(bits[131]);
spare2 = bits.ToUnsignedInt(132, 4);

assert(bits.GetRemaining() == 0);
status = AIS_OK;
}

} // namespace libais
129 changes: 81 additions & 48 deletions src/libais/ais_py.cpp
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Expand Up @@ -36,7 +36,7 @@ enum AIS_FI {
AIS_FI_6_200_21_RIS_VTS_ETA = 21,
AIS_FI_6_200_22_RIS_VTS_RTA = 22,
AIS_FI_6_200_55_RIS_VTS_SAR = 55,

AIS_FI_6_235_10_ATON_MONITORING_DATA = 10,
AIS_FI_8_1_0_TEXT = 0,
AIS_FI_8_1_11_MET_HYDRO = 11,
AIS_FI_8_1_13_FAIRWAY_CLOSED = 13,
Expand Down Expand Up @@ -698,6 +698,30 @@ ais6_1_40_append_pydict(const char *nmea_payload, PyObject *dict,
return AIS_OK;
}

AIS_STATUS
ais6_235_10_append_pydict(const char *nmea_payload, PyObject *dict,
const size_t pad) {
assert(nmea_payload);
assert(dict);
assert(pad < 6);
Ais6_235_10 msg(nmea_payload, pad);
if (msg.had_error()) {
return msg.get_error();
}

DictSafeSetItem(dict, "ana_int", msg.ana_int);
DictSafeSetItem(dict, "ana_ext1", msg.ana_ext1);
DictSafeSetItem(dict, "ana_ext2", msg.ana_ext2);
DictSafeSetItem(dict, "racon", msg.racon);
DictSafeSetItem(dict, "light", msg.light);
DictSafeSetItem(dict, "health", msg.health);
DictSafeSetItem(dict, "stat_ext", msg.stat_ext);
DictSafeSetItem(dict, "off_pos", msg.off_pos);
DictSafeSetItem(dict, "spare2", msg.spare2);

return AIS_OK;
}

PyObject*
ais6_to_pydict(const char *nmea_payload, const size_t pad) {
assert(nmea_payload);
Expand All @@ -722,58 +746,67 @@ ais6_to_pydict(const char *nmea_payload, const size_t pad) {
AIS_STATUS status = AIS_UNINITIALIZED;

switch (msg.dac) {
case AIS_DAC_1_INTERNATIONAL: // IMO.
switch (msg.fi) {
case AIS_FI_6_1_0_TEXT: // OLD ITU 1371-1.
status = ais6_1_0_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_1_ACK: // OLD ITU 1371-1.
status = ais6_1_1_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_2_FI_INTERROGATE: // OLD ITU 1371-1.
status = ais6_1_2_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_3_CAPABILITY_INTERROGATE: // OLD ITU 1371-1.
status = ais6_1_3_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_4_CAPABILITY_REPLY: // OLD ITU 1371-1.
status = ais6_1_4_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_5_ACK: // ITU 1371-5.
status = ais6_1_5_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_12_DANGEROUS_CARGO: // Not to be used after 1 Jan 2013.
status = ais6_1_12_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_14_TIDAL_WINDOW: // Not to be used after 1 Jan 2013.
status = ais6_1_14_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_18_ENTRY_TIME:
status = ais6_1_18_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_20_BERTHING:
status = ais6_1_20_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_25_DANGEROUS_CARGO:
status = ais6_1_25_append_pydict(nmea_payload, dict, pad);
break;
// TODO(schwehr): AIS_FI_6_1_28_ROUTE.
// TODO(schwehr): AIS_FI_6_1_30_TEXT.
case AIS_FI_6_1_32_TIDAL_WINDOW: // IMO Circ 289
status = ais6_1_32_append_pydict(nmea_payload, dict, pad);
case AIS_DAC_1_INTERNATIONAL: // IMO.
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Please don't reindent this all.

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ok. back to original indenting.

switch (msg.fi) {
case AIS_FI_6_1_0_TEXT: // OLD ITU 1371-1.
status = ais6_1_0_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_1_ACK: // OLD ITU 1371-1.
status = ais6_1_1_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_2_FI_INTERROGATE: // OLD ITU 1371-1.
status = ais6_1_2_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_3_CAPABILITY_INTERROGATE: // OLD ITU 1371-1.
status = ais6_1_3_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_4_CAPABILITY_REPLY: // OLD ITU 1371-1.
status = ais6_1_4_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_5_ACK: // ITU 1371-5.
status = ais6_1_5_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_12_DANGEROUS_CARGO: // Not to be used after 1 Jan 2013.
status = ais6_1_12_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_14_TIDAL_WINDOW: // Not to be used after 1 Jan 2013.
status = ais6_1_14_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_18_ENTRY_TIME:
status = ais6_1_18_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_20_BERTHING:
status = ais6_1_20_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_25_DANGEROUS_CARGO:
status = ais6_1_25_append_pydict(nmea_payload, dict, pad);
break;
// TODO(schwehr): AIS_FI_6_1_28_ROUTE.
// TODO(schwehr): AIS_FI_6_1_30_TEXT.
case AIS_FI_6_1_32_TIDAL_WINDOW: // IMO Circ 289
status = ais6_1_32_append_pydict(nmea_payload, dict, pad);
break;
case AIS_FI_6_1_40_PERSONS_ON_BOARD: // OLD ITU 1371-1.
status = ais6_1_40_append_pydict(nmea_payload, dict, pad);
break;
default:
// TODO(schwehr): Raise an exception?
DictSafeSetItem(dict, "not_parsed", true);
}
break;
case AIS_FI_6_1_40_PERSONS_ON_BOARD: // OLD ITU 1371-1.
status = ais6_1_40_append_pydict(nmea_payload, dict, pad);
case AIS_DAC_235_UNITED_KINGDOM_OF_GREAT_BRITAIN_AND_NORTHERN_IRELAND: // IMO.
switch (msg.fi) {
case AIS_FI_6_235_10_ATON_MONITORING_DATA: // IALA-A126.
status = ais6_235_10_append_pydict(nmea_payload, dict, pad);
break;
default:
// TODO(schwehr): Raise an exception?
DictSafeSetItem(dict, "not_parsed", true);
}
break;
default:
// TODO(schwehr): Raise an exception?
DictSafeSetItem(dict, "not_parsed", true);
}
break;

default:
// TODO(schwehr): Raise an exception?
DictSafeSetItem(dict, "not_parsed", true);
}

if (status != AIS_OK) {
Expand Down
7 changes: 7 additions & 0 deletions src/libais/decode_body.cpp
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Expand Up @@ -66,6 +66,13 @@ unique_ptr<AisMsg> CreateAisMsg6(const string &body, const int fill_bits) {
}
// FI not handled.
break;
case libais::AIS_DAC_235_UNITED_KINGDOM_OF_GREAT_BRITAIN_AND_NORTHERN_IRELAND:
switch (msg.fi) {
case 10:
return MakeUnique<libais::Ais6_235_10>(body.c_str(), fill_bits);
}
// FI not handled.
break;
}
return nullptr;
}
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31 changes: 26 additions & 5 deletions test/test_data.py
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Expand Up @@ -138,7 +138,7 @@
'mmsi_dest': 538090218,
'msg_seq': 0,
'repeat_indicator': 0,
'retransmit': False,
'retransmit': True,
'seq': 2,
'spare': 0,
'spare2': 0,
Expand All @@ -153,7 +153,7 @@
'mmsi': 257050000,
'seq': 2,
'mmsi_dest': 257060000,
'retransmit': True,
'retransmit': False,
'spare': 0,
'dac': 1,
'fi': 1,
Expand All @@ -168,7 +168,7 @@
'mmsi': 352521000,
'seq': 0,
'mmsi_dest': 477535500,
'retransmit': True,
'retransmit': False,
'spare': 0,
'dac': 1,
'fi': 2,
Expand All @@ -184,7 +184,7 @@
'mmsi_dest': 205523890,
'repeat_indicator': 0,
'req_dac': 1,
'retransmit': False,
'retransmit': True,
'seq': 2,
'spare': 0,
'spare2': 0,
Expand All @@ -211,7 +211,7 @@
'mmsi': 205323000,
'mmsi_dest': 2053501,
'repeat_indicator': 0,
'retransmit': True,
'retransmit': False,
'seq': 0,
'spare': 0,
'spare2': 0,
Expand Down Expand Up @@ -673,4 +673,25 @@
'y': -2.5533333333333332}
},

{
'nmea': [ '!AIVDM,1,1,4,B,6>jR0600V:C0>da4P106P00,2*02' ],
'result': {'id': 6,
'repeat_indicator': 0,
'mmsi': 992509976,
'seq': 0,
'mmsi_dest': 2500912,
'retransmit': False,
'spare': 0,
'dac': 235,
'fi': 10,
'ana_int': 13.699999809265137,
'ana_ext1': 0.05000000074505806,
'ana_ext2': 0.05000000074505806,
'racon': 2,
'light': 2,
'health': False,
'stat_ext': 0,
'off_pos': False,
'spare2': 0}
},
]
2 changes: 2 additions & 0 deletions test/testutils.py
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Expand Up @@ -47,6 +47,8 @@ def DictDiff(a, b):
def Compare(x, y):
if x == y:
return True
if x in [None, 'nan'] and y in [None, 'nan']:
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Why do you need this? And that says that None and 'nan' are ==. Is that really what we want?

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Modified because testTypeExamples fails. Not ideal. Reverted.

return True
x = TextToNumber(x)
y = TextToNumber(y)
if isinstance(x, six.string_types) and isinstance(y, six.string_types):
Expand Down