Add Kenwood proprietary sentences $PKLDS, $PKNDS, $PKLID, $PKNID, $PK…

…LSH, $PKNSH, $PKWDWPL (#118) These proprietary NMEA sentences have been captured from Various Kenwood LMR radios. and is parity with pynema2
adrianmo · Dec 9, 2024 · e4d24e3 · e4d24e3
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diff --git a/README.md b/README.md
@@ -90,6 +90,13 @@ on [IEC 61162-1:2016 (Edition 5.0 2016-08)](https://webstore.iec.ch/publication/
 | HSS                | Hull stress surveillance systems                                    |                                                                                                |
 | HTC                | Heading/track control command                                       |                                                                                                |
 | HTD                | Heading /track control data                                         |                                                                                                |
+| KLDS               | Kenwood LMR - FleetSync AVL                                         |                                                                                                |
+| KLID               | Kenwood LMR - FleetSync                                             |                                                                                                |
+| KLSH               | Kenwood LMR - FleetSync AVL                                         |                                                                                                |
+| KNDS               | Kenwood LMR - Digital AVL                                           |                                                                                                |
+| KNID               | Kenwood LMR - Digital                                               |                                                                                                |
+| KNSH               | Kenwood LMR - Digital AVL                                           |                                                                                                |
+| KWDWPL             | Kenwood Waypoint Location - Amateur Radio                           | [direwolf](https://github.com/wb2osz/direwolf/blob/master/src/waypoint.c)                      |
 | LR1                | AIS long-range reply sentence 1                                     |                                                                                                |
 | LR2                | AIS long-range reply sentence 2                                     |                                                                                                |
 | LR3                | AIS long-range reply sentence 3                                     |                                                                                                |

diff --git a/pklds.go b/pklds.go
@@ -0,0 +1,59 @@
+package nmea
+
+import (
+	"strings"
+)
+
+const (
+	// TypePKLDS type for PKLDS sentences
+	TypePKLDS = "KLDS"
+)
+
+// PKLDS is Kenwood propirtary sentance it is RMC with the addition of Fleetsync ID and status information.
+// http://aprs.gids.nl/nmea/#rmc
+//
+// Format:          $PKLDS,hhmmss.ss,A,ddmm.mm,a,dddmm.mm,a,x.x,x.x,xxxx,x.x,a*hh<CR><LF>
+// Example: $PKLDS,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W00,100,2000,25,00*6E
+type PKLDS struct {
+	BaseSentence
+	Time            Time    // Time Stamp
+	Validity        string  // validity - A-ok, V-invalid
+	Latitude        float64 // Latitude
+	Longitude       float64 // Longitude
+	Speed           float64 // Speed in knots
+	Course          float64 // True course
+	Date            Date    // Date
+	Variation       float64 // Magnetic variation
+	SentanceVersion string  // 00 to 15
+	Fleet           string  // 100 to 349
+	UnitID          string  // 1000 to 4999
+	Status          string  // 10 to 99
+	Extension       string  // 00 to 99
+}
+
+// newPKLDS constructor
+func newPKLDS(s BaseSentence) (Sentence, error) {
+	p := NewParser(s)
+	p.AssertType(TypePKLDS)
+	m := PKLDS{
+		BaseSentence:    s,
+		Time:            p.Time(0, "time"),
+		Validity:        p.EnumString(1, "validity", ValidRMC, InvalidRMC),
+		Latitude:        p.LatLong(2, 3, "latitude"),
+		Longitude:       p.LatLong(4, 5, "longitude"),
+		Speed:           p.Float64(6, "speed"),
+		Course:          p.Float64(7, "course"),
+		Date:            p.Date(8, "date"),
+		Variation:       p.Float64(9, "variation"),
+		SentanceVersion: p.String(10, "sentance version, range of 00 to 15"),
+		Fleet:           p.String(11, "fleet, range of 100 to 349"),
+		UnitID:          p.String(12, "subscriber unit id, range of 1000 to 4999"),
+		Status:          p.String(13, "subscriber unit status id, range of 10 to 99"),
+		Extension:       p.String(14, "reserved for future use, range of 00 to 99"),
+	}
+	if strings.HasPrefix(m.SentanceVersion, "W") == true {
+		m.Variation = 0 - m.Variation
+	}
+	m.SentanceVersion = strings.TrimPrefix(strings.TrimPrefix(m.SentanceVersion, "W"), "E")
+	return m, p.Err()
+}
diff --git a/pklds_test.go b/pklds_test.go
@@ -0,0 +1,76 @@
+package nmea
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/assert"
+)
+
+var pkldstests = []struct {
+	name string
+	raw  string
+	err  string
+	msg  PKLDS
+}{
+	{
+		name: "good sentence West",
+		raw:  "$PKLDS,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W00,100,2000,15,00,*60",
+		msg: PKLDS{
+			Time:            Time{true, 22, 05, 16, 0},
+			Validity:        "A",
+			Latitude:        MustParseGPS("5133.82 N"),
+			Longitude:       MustParseGPS("00042.24 W"),
+			Speed:           173.8,
+			Course:          231.8,
+			Date:            Date{true, 13, 06, 94},
+			Variation:       -4.2,
+			SentanceVersion: "00",
+			Fleet:           "100",
+			UnitID:          "2000",
+			Status:          "15",
+			Extension:       "00",
+		},
+	},
+	{
+		name: "good sentence East",
+		raw:  "$PKLDS,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,E00,100,2000,15,00,*72",
+		msg: PKLDS{
+			Time:            Time{true, 22, 05, 16, 0},
+			Validity:        "A",
+			Latitude:        MustParseGPS("5133.82 N"),
+			Longitude:       MustParseGPS("00042.24 W"),
+			Speed:           173.8,
+			Course:          231.8,
+			Date:            Date{true, 13, 06, 94},
+			Variation:       4.2,
+			SentanceVersion: "00",
+			Fleet:           "100",
+			UnitID:          "2000",
+			Status:          "15",
+			Extension:       "00",
+		},
+	},
+
+	{
+		name: "bad sentence",
+		raw:  "$PKLDS,220516,D,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W00,100,2000,15,00,*65",
+		err:  "nmea: PKLDS invalid validity: D",
+	},
+}
+
+func TestPKLDS(t *testing.T) {
+	for _, tt := range pkldstests {
+		t.Run(tt.name, func(t *testing.T) {
+			m, err := Parse(tt.raw)
+			if tt.err != "" {
+				assert.Error(t, err)
+				assert.EqualError(t, err, tt.err)
+			} else {
+				assert.NoError(t, err)
+				pklds := m.(PKLDS)
+				pklds.BaseSentence = BaseSentence{}
+				assert.Equal(t, tt.msg, pklds)
+			}
+		})
+	}
+}
diff --git a/pklid.go b/pklid.go
@@ -0,0 +1,34 @@
+package nmea
+
+const (
+	// TypePKLID type for PKLID sentances
+	TypePKLID = "KLID"
+)
+
+// PKLID is a Kenwood Propritary sentance used for GPS data communications in FleetSync.
+// $PKLID,<0>,<1>,<2>,<3>,<4>*hh<CR><LF>
+// Format:  $PKLID,xx,xxx,xxxx,xx,xx,*xx<CR><LF>
+// Example: $PKLID,00,100,2000,15,00,*??
+type PKLID struct {
+	BaseSentence
+	SentanceVersion string // 00 to 15
+	Fleet           string // 100 to 349
+	UnitID          string // 1000 to 4999
+	Status          string // 10 to 99
+	Extension       string // 00 to 99
+}
+
+// newPKLID constructor
+func newPKLID(s BaseSentence) (Sentence, error) {
+	p := NewParser(s)
+	p.AssertType(TypePKLID)
+
+	return PKLID{
+		BaseSentence:    s,
+		SentanceVersion: p.String(0, "sentance version, range of 00 to 15"),
+		Fleet:           p.String(1, "fleet, range of 100 to 349"),
+		UnitID:          p.String(2, "subscriber unit id, range of 1000 to 4999"),
+		Status:          p.String(3, "subscriber unit status id, range of 10 to 99"),
+		Extension:       p.String(4, "reserved for future use, range of 00 to 99"),
+	}, p.Err()
+}
diff --git a/pklid_test.go b/pklid_test.go
@@ -0,0 +1,43 @@
+package nmea
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/assert"
+)
+
+var pklidtests = []struct {
+	name string
+	raw  string
+	err  string
+	msg  PKLID
+}{
+	{
+		name: "typical sentance",
+		raw:  "$PKLID,00,100,2000,15,00,*6D",
+		msg: PKLID{
+			SentanceVersion: "00",
+			Fleet:           "100",
+			UnitID:          "2000",
+			Status:          "15",
+			Extension:       "00",
+		},
+	},
+}
+
+func TestPKLID(t *testing.T) {
+	for _, tt := range pklidtests {
+		t.Run(tt.name, func(t *testing.T) {
+			m, err := Parse(tt.raw)
+			if tt.err != "" {
+				assert.Error(t, err)
+				assert.EqualError(t, err, tt.err)
+			} else {
+				assert.NoError(t, err)
+				pklid := m.(PKLID)
+				pklid.BaseSentence = BaseSentence{}
+				assert.Equal(t, tt.msg, pklid)
+			}
+		})
+	}
+}
diff --git a/pklsh.go b/pklsh.go
@@ -0,0 +1,39 @@
+package nmea
+
+const (
+	// TypePKLSH type for PKLSH sentances
+	TypePKLSH = "KLSH"
+)
+
+// PKLSH is a Kenwood Propritary sentance used for GPS data communications in FleetSync.
+//
+//	adds UnitID and Fleet to $GPGLL sentance
+//
+// $PKLSH,<0>,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh<CR><LF>
+// Format:  $PKLSH,xxxx.xxxx,x,xxxxx.xxxx,x,xxxxxx,x,xxx,xxxx,*xx<CR><LF>
+// Example: $PKLSH,4000.0000,N,13500.0000,E,021720,A,100,2000,*??
+type PKLSH struct {
+	BaseSentence
+	Latitude  float64 // Latitude
+	Longitude float64 // Longitude
+	Time      Time    // Time Stamp
+	Validity  string  // validity - A=valid, V=invalid
+	Fleet     string  // 100 to 349
+	UnitID    string  // 1000 to 4999
+}
+
+// newPKLSH constructor
+func newPKLSH(s BaseSentence) (Sentence, error) {
+	p := NewParser(s)
+	p.AssertType(TypePKLSH)
+
+	return PKLSH{
+		BaseSentence: s,
+		Latitude:     p.LatLong(0, 1, "latitude"),
+		Longitude:    p.LatLong(2, 3, "longitude"),
+		Time:         p.Time(4, "time"),
+		Validity:     p.EnumString(5, "validity", ValidGLL, InvalidGLL),
+		Fleet:        p.String(6, "fleet, range of 100 to 349"),
+		UnitID:       p.String(7, "subscriber unit id, range of 1000 to 4999"),
+	}, p.Err()
+}
diff --git a/pklsh_test.go b/pklsh_test.go
@@ -0,0 +1,55 @@
+package nmea
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/assert"
+)
+
+var pklshtests = []struct {
+	name string
+	raw  string
+	err  string
+	msg  PKLSH
+}{
+	{
+		name: "good sentence",
+		raw:  "$PKLSH,3926.7952,N,12000.5947,W,022732,A,100,2000*1A",
+		msg: PKLSH{
+			Latitude:  MustParseLatLong("3926.7952 N"),
+			Longitude: MustParseLatLong("12000.5947 W"),
+			Time: Time{
+				Valid:       true,
+				Hour:        2,
+				Minute:      27,
+				Second:      32,
+				Millisecond: 0,
+			},
+			Validity: "A",
+			Fleet:    "100",
+			UnitID:   "2000",
+		},
+	},
+	{
+		name: "bad validity",
+		raw:  "$PKLSH,3926.7952,N,12000.5947,W,022732,D,100,2000*1F",
+		err:  "nmea: PKLSH invalid validity: D",
+	},
+}
+
+func TestPKLSH(t *testing.T) {
+	for _, tt := range pklshtests {
+		t.Run(tt.name, func(t *testing.T) {
+			m, err := Parse(tt.raw)
+			if tt.err != "" {
+				assert.Error(t, err)
+				assert.EqualError(t, err, tt.err)
+			} else {
+				assert.NoError(t, err)
+				pklsh := m.(PKLSH)
+				pklsh.BaseSentence = BaseSentence{}
+				assert.Equal(t, tt.msg, pklsh)
+			}
+		})
+	}
+}
diff --git a/pknds.go b/pknds.go
@@ -0,0 +1,57 @@
+package nmea
+
+import (
+	"strings"
+)
+
+const (
+	// TypePKNDS type for PKLDS sentences
+	TypePKNDS = "KNDS"
+)
+
+// PKNDS is Kenwood propirtary sentance it is RMC with the addition of NEXTEDGE and status information.
+// http://aprs.gids.nl/nmea/#rmc
+//
+// Format:          $PKNDS,hhmmss.ss,A,ddmm.mm,a,dddmm.mm,a,xxx.x,x,x.x,xxx,Uxxxx,xxx.xx,*hh<CR><LF>
+// Example: $PKNDS,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W00,U00001,207,00,*6E
+type PKNDS struct {
+	BaseSentence
+	Time            Time    // Time Stamp
+	Validity        string  // validity - A-ok, V-invalid
+	Latitude        float64 // Latitude
+	Longitude       float64 // Longitude
+	Speed           float64 // Speed in knots
+	Course          float64 // True course
+	Date            Date    // Date
+	Variation       float64 // Magnetic variation
+	SentanceVersion string  // 00 to 15
+	UnitID          string  // U00001 to U65519 or U00000001 to U16776415 (U is FIXED)
+	Status          string  // 001 to 255
+	Extension       string  // 00 to 99
+}
+
+// newPKNDS constructor
+func newPKNDS(s BaseSentence) (Sentence, error) {
+	p := NewParser(s)
+	p.AssertType(TypePKNDS)
+	m := PKNDS{
+		BaseSentence:    s,
+		Time:            p.Time(0, "time"),
+		Validity:        p.EnumString(1, "validity", ValidRMC, InvalidRMC),
+		Latitude:        p.LatLong(2, 3, "latitude"),
+		Longitude:       p.LatLong(4, 5, "longitude"),
+		Speed:           p.Float64(6, "speed"),
+		Course:          p.Float64(7, "course"),
+		Date:            p.Date(8, "date"),
+		Variation:       p.Float64(9, "variation"),
+		SentanceVersion: p.String(10, "sentance version, range of 00 to 15"),
+		UnitID:          p.String(11, "unit ID, NXDN range U00001 to U65519, DMR range of  U00000001 to U16776415"),
+		Status:          p.String(12, "subscriber unit status id, range of 001 to 255"),
+		Extension:       p.String(13, "reserved for future use, range of 00 to 99"),
+	}
+	if strings.HasPrefix(m.SentanceVersion, "W") == true {
+		m.Variation = 0 - m.Variation
+	}
+	m.SentanceVersion = strings.TrimPrefix(strings.TrimPrefix(m.SentanceVersion, "W"), "E")
+	return m, p.Err()
+}