Add PSKPDPT sentence for Depth of Water for multiple transducer installation

README.md

@@ -91,10 +91,11 @@ At this moment, this library supports the following sentence types:
 | Proprietary sentence type                                   | Description                                                                                     |
 |-------------------------------------------------------------|-------------------------------------------------------------------------------------------------|
 | [PGRME](http://aprs.gids.nl/nmea/#rme)                      | Estimated Position Error (Garmin proprietary sentence)                                          |
-| [PHTRO](#)                                                  | Vessel pitch and roll (Xsens IMU/VRU/AHRS)                                                      |
+| [PHTRO](./phtro.go)                                         | Vessel pitch and roll (Xsens IMU/VRU/AHRS)                                                      |
 | [PMTK](https://www.rhydolabz.com/documents/25/PMTK_A11.pdf) | Messages for setting and reading commands for MediaTek gps modules.                             |
-| [PRDID](#)                                                  | Vessel pitch, roll and heading (Xsens IMU/VRU/AHRS)                                             |
-| [PSONCMS](#)                                                | Quaternion, acceleration, rate of turn, magnetic field, sensor temperature (Xsens IMU/VRU/AHRS) |
+| [PRDID](./prdid.go)                                         | Vessel pitch, roll and heading (Xsens IMU/VRU/AHRS)                                             |
+| [PSKPDPT](./pskpdpt.go)                                     | Depth of Water for multiple transducer installation                                             |
+| [PSONCMS](./psoncms.go)                                     | Quaternion, acceleration, rate of turn, magnetic field, sensor temperature (Xsens IMU/VRU/AHRS) |
 
 If you need to parse a message that contains an unsupported sentence type you can implement and register your own
 message parser and get yourself unblocked immediately. Check the example below to know how

pskpdpt.go

@@ -0,0 +1,45 @@
+package nmea
+
+const (
+	// TypePSKPDPT type for proprietary Skipper PSKPDPT sentences
+	TypePSKPDPT = "SKPDPT"
+)
+
+// PSKPDPT - Depth of Water for multiple transducer installation
+// https://www.alphatronmarine.com/files/products/120-echonav-skipper-gds101-instoper-manual-12-6-2017_1556099135_47f5f8d1.pdf (page 56, Edition: 2017.06.12)
+// https://www.kongsberg.com/globalassets/maritime/km-products/product-documents/164821aa_rd301_instruction_manual_lr.pdf (page 2, 857-164821aa)
+//
+// Format: $PSKPDPT,x.x,x.x,x.x,xx,xx,c--c*hh<CR><LF>
+// Example: $PSKPDPT,0002.5,+00.0,0010,10,03,*77
+type PSKPDPT struct {
+	BaseSentence
+	// Depth is water depth relative to transducer, meters
+	Depth float64
+	// Offset from transducer, meters
+	Offset float64
+	// RangeScale is Maximum range scale in use, meters
+	RangeScale float64
+	// BottomEchoStrength is Bottom echo strength (0,9)
+	BottomEchoStrength int64
+	// ChannelNumber is Echo sounder channel number (0-99) (1 = 38 kHz. 2 = 50 kHz. 3 = 200 kHz)
+	ChannelNumber int64
+	// TransducerLocation is Transducer location. Text string, indicating transducer position: FWD/AFT/PORT/STB.
+	// If position is not preset by operator, empty field is provided.
+	TransducerLocation string
+}
+
+// newPSKPDPT constructor
+func newPSKPDPT(s BaseSentence) (PSKPDPT, error) {
+	p := NewParser(s)
+	p.AssertType(TypePSKPDPT)
+	sentence := PSKPDPT{
+		BaseSentence:       s,
+		Depth:              p.Float64(0, "depth"),
+		Offset:             p.Float64(1, "offset"),
+		RangeScale:         p.Float64(2, "range scale"),
+		BottomEchoStrength: p.Int64(3, "bottom echo strength"),
+		ChannelNumber:      p.Int64(4, "channel number"),
+		TransducerLocation: p.String(5, "transducer location"),
+	}
+	return sentence, p.Err()
+}

pskpdpt_test.go

@@ -0,0 +1,81 @@
+package nmea
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/assert"
+)
+
+func TestPSKPDPT(t *testing.T) {
+	var testcases = []struct {
+		name string
+		raw  string
+		err  string
+		msg  PSKPDPT
+	}{
+		{
+			name: "good sentence, empty location",
+			raw:  "$PSKPDPT,0002.5,+00.0,0010,10,03,*77",
+			msg: PSKPDPT{
+				Depth:              2.5,
+				Offset:             0,
+				RangeScale:         10,
+				BottomEchoStrength: 10,
+				ChannelNumber:      03,
+				TransducerLocation: "",
+			},
+		},
+		{
+			name: "good sentence",
+			raw:  "$PSKPDPT,0002.5,-01.1,0010,10,03,AFT*22",
+			msg: PSKPDPT{
+				Depth:              2.5,
+				Offset:             -1.1,
+				RangeScale:         10,
+				BottomEchoStrength: 10,
+				ChannelNumber:      03,
+				TransducerLocation: "AFT",
+			},
+		},
+		{
+			name: "invalid nmea: Depth",
+			raw:  "$PSKPDPT,x0002.5,+00.0,0010,10,03,*0f",
+			err:  "nmea: PSKPDPT invalid depth: x0002.5",
+		},
+		{
+			name: "invalid nmea: Offset",
+			raw:  "$PSKPDPT,0002.5,+x00.0,0010,10,03,*0f",
+			err:  "nmea: PSKPDPT invalid offset: +x00.0",
+		},
+		{
+			name: "invalid nmea: RangeScale",
+			raw:  "$PSKPDPT,0002.5,+00.0,x0010,10,03,*0f",
+			err:  "nmea: PSKPDPT invalid range scale: x0010",
+		},
+		{
+			name: "invalid nmea: BottomEchoStrength",
+			raw:  "$PSKPDPT,0002.5,+00.0,0010,10x,03,*0f",
+			err:  "nmea: PSKPDPT invalid bottom echo strength: 10x",
+		},
+		{
+			name: "invalid nmea: ChannelNumber",
+			raw:  "$PSKPDPT,0002.5,+00.0,0010,10,0x3,*0f",
+			err:  "nmea: PSKPDPT invalid channel number: 0x3",
+		},
+	}
+
+	for _, tt := range testcases {
+		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)
+				sentence := m.(PSKPDPT)
+				sentence.BaseSentence = BaseSentence{}
+				assert.Equal(t, tt.msg, sentence)
+			}
+		})
+	}
+}

sentence.go

@@ -233,6 +233,8 @@ func Parse(raw string) (Sentence, error) {
 			return newPHTRO(s)
 		case TypePRDID:
 			return newPRDID(s)
+		case TypePSKPDPT:
+			return newPSKPDPT(s)
 		case TypePSONCMS:
 			return newPSONCMS(s)
 		case TypeGSV: