Sentence $PASHR

hooks/PASHR.js

@@ -0,0 +1,87 @@
+/**
+ * Copyright 2019 Signal K and Fabian Tollenaar <fabian@decipher.industries>.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+const debug = require('debug')('signalk-parser-nmea0183/PASHR')
+const utils = require('@signalk/nmea0183-utilities')
+
+/**
+ * $PASHR,225444.123,125.12,T,12.45,11.91,xxx.xx,1.123,1.456,2.653,1,4*38
+ *
+ * Roll and pitch information - https://help.fieldsystems.trimble.com/r780/nmea0183-messages-pashr.htm
+ *
+ * 0)     225444.123        UTC time of fix 22:54:44.123
+ * 1,2)   125.12,T          True Heading, flag to indicate that the Heading is True Heading
+ * 3)     12.45             Roll Angle in degrees
+ * 4)     11.91             Pitch Angle in degrees
+ * 5)     xxx.xx            Reserved Field (Not Supported)
+ * 6)     1.123             Roll Angle accuracy estimate in degrees
+ * 7)     1.456             Pitch Angle accuracy estimate in degrees
+ * 8)     2.653             Heading Angle accuracy estimate in degrees
+ * 9)     1                 GNSS Quality [0-6]
+ * 10)    4                 IMU Alignment Status [0-4]
+ **/
+
+
+module.exports = function PASHRHook(input) {
+  const { id, sentence, parts, tags } = input
+
+  debug(`[PASHRHook] decoding sentence ${id} => ${sentence}`)
+
+  let state = {
+    timestamp: utils.timestamp(parts[0]),
+    trueHeading: parts[2] == 'T' ? parts[1] : null,
+    rollAngle: parts[3],
+    pitchAngle: parts[4],
+    rollAngleAccuracy: parts[6],
+    pitchAngleAccuracy: parts[7],
+    trueHeadingAccuracy: parts[8],
+  }
+
+  return {
+    updates: [
+      {
+        timestamp: state.timestamp,
+        source: tags.source,
+        values: [
+          {
+            path: 'navigation.headingTrue',
+            value: state.trueHeading ? utils.transform(utils.float(state.trueHeading), 'deg', 'rad') : null,
+          },
+          {
+            path: 'balance.rollAngle',
+            value: state.rollAngle ? utils.transform(utils.float(state.rollAngle), 'deg', 'rad') : null,
+          },
+          {
+            path: 'balance.pitchAngle',
+            value: state.pitchAngle ? utils.transform(utils.float(state.pitchAngle), 'deg', 'rad') : null,
+          },
+          {
+            path: 'balance.rollAngleAccuracy',
+            value: state.rollAngle && state.rollAngleAccuracy ? utils.transform(utils.float(state.rollAngleAccuracy), 'deg', 'rad') : null,
+          },
+          {
+            path: 'balance.pitchAngleAccuracy',
+            value: state.pitchAngle && state.pitchAngleAccuracy ? utils.transform(utils.float(state.pitchAngleAccuracy), 'deg', 'rad') : null,
+          },
+          {
+            path: 'navigation.headingTrueAccuracy',
+            value: state.trueHeading && state.trueHeadingAccuracy ? utils.transform(utils.float(state.trueHeadingAccuracy), 'deg', 'rad') : null,
+          }
+        ],
+      },
+    ],
+  }
+}

hooks/index.js

@@ -41,4 +41,5 @@ module.exports = {
   BWC: require('./BWC.js'),
   BWR: require('./BWR.js'),
   HSC: require('./HSC.js'),
+  PASHR: require('./PASHR.js')
 }

test/PASHR.js

@@ -0,0 +1,187 @@
+/**
+ * Copyright 2025 Signal K and Fabian Tollenaar <fabian@signalk.org>.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+'use strict'
+
+const Parser = require('../lib')
+const chai = require('chai')
+const { expect } = require('chai')
+const utils = require('@signalk/nmea0183-utilities')
+
+chai.Should()
+
+chai.use(require('chai-things'))
+
+// {
+//   path: 'navigation.headingTrue',
+//   value: utils.transform(utils.float(state.trueHeading), 'deg', 'rad'),
+// },
+// {
+//   path: 'balance.rollAngle',
+//   value: utils.transform(utils.float(state.rollAngle), 'deg', 'rad'),
+// },
+// {
+//   path: 'balance.pitchAngle',
+//   value: utils.transform(utils.float(state.pitchAngle), 'deg', 'rad'),
+// },
+// {
+//   path: 'balance.rollAngleAccuracy',
+//   value: utils.float(state.rollAngleAccuracy),
+// },
+// {
+//   path: 'balance.pitchAngleAccuracy',
+//   value: utils.float(state.pitchAngleAccuracy),
+// }
+
+
+describe('PASHR', () => {
+  it('Should understand full trame', () => {
+    const delta = new Parser().parse('$PASHR,225444.123,125.12,T,12.45,11.91,xxx.xx,1.123,1.456,2.653,1,4*56')
+    delta.should.be.an('object')
+
+    testAllKeys(delta)
+
+    // headingTrue
+    delta.updates[0].values[0].value.should.be.closeTo(
+      2, 18166156,
+      0.01
+    )
+
+    // rollAngle
+    delta.updates[0].values[1].value.should.be.closeTo(
+      0, 2712,
+      0.01
+    )
+
+    // pitchAngle
+    delta.updates[0].values[2].value.should.be.closeTo(
+      0, 2078,
+      0.01
+    )
+
+    // rollAngleAccuracy
+    delta.updates[0].values[3].value.should.be.closeTo(
+      0.0196,
+      0.01
+    )
+
+    // pitchAngleAccuracy
+    delta.updates[0].values[4].value.should.be.closeTo(
+      0.0254,
+      0.01
+    )
+
+    // headingTrueAccuracy
+    delta.updates[0].values[5].value.should.be.closeTo(
+      0.0463,
+      0.01
+    )
+  })
+
+
+    it('Should dont set heading if the flag isnt present', () => {
+    const delta = new Parser().parse('$PASHR,225444.123,125.12,,12.45,11.91,xxx.xx,1.123,1.456,2.653,1,4*02')
+    delta.should.be.an('object')
+
+    testAllKeys(delta)
+
+    // headingTrue
+    expect(delta.updates[0].values[0].value).to.be.null
+
+    // rollAngle
+    delta.updates[0].values[1].value.should.be.closeTo(
+      0, 2712,
+      0.01
+    )
+
+    // pitchAngle
+    delta.updates[0].values[2].value.should.be.closeTo(
+      0, 2078,
+      0.01
+    )
+
+    // rollAngleAccuracy
+    delta.updates[0].values[3].value.should.be.closeTo(
+      0.0196,
+      0.01
+    )
+
+    // pitchAngleAccuracy
+    delta.updates[0].values[4].value.should.be.closeTo(
+      0.0254,
+      0.01
+    )
+
+    // headingTrueAccuracy
+        expect(delta.updates[0].values[5].value).to.be.null
+  })
+
+
+      it('Should handle all null values', () => {
+    const delta = new Parser().parse('$PASHR,225444.123,,,,,,,,,,*6b')
+    delta.should.be.an('object')
+
+    testAllKeys(delta)
+
+    // headingTrue
+    expect(delta.updates[0].values[0].value).to.be.null
+
+    // rollAngle
+    expect(delta.updates[0].values[1].value).to.be.null
+
+
+    // pitchAngle
+    expect(delta.updates[0].values[2].value).to.be.null
+
+
+    // rollAngleAccuracy
+    expect(delta.updates[0].values[3].value).to.be.null
+
+
+    // pitchAngleAccuracy
+    expect(delta.updates[0].values[4].value).to.be.null
+
+
+    // headingTrueAccuracy
+        expect(delta.updates[0].values[5].value).to.be.null
+  })
+
+})
+
+
+function testAllKeys(delta) {
+  delta.updates[0].values.should.contain.an.item.with.property(
+    "path",
+    'navigation.headingTrue',
+  )
+
+  delta.updates[0].values.should.contain.an.item.with.property(
+    "path",
+    'balance.rollAngle',
+  )
+  delta.updates[0].values.should.contain.an.item.with.property(
+    "path",
+    'balance.pitchAngle',
+  )
+  delta.updates[0].values.should.contain.an.item.with.property(
+    "path",
+    'balance.rollAngleAccuracy',
+  )
+  delta.updates[0].values.should.contain.an.item.with.property(
+    "path",
+    'balance.pitchAngleAccuracy',
+  )
+}