Add heave and Furuno types (#166)

* Add heave type

Signed-off-by: Joep de Jong <joep@joepdejong.com>
Signed-off-by: GitHub <noreply@github.com>

* Add Furuno proprietary types

Signed-off-by: Joep de Jong <joep@joepdejong.com>
Signed-off-by: GitHub <noreply@github.com>

* Cleanup Furuno

---------

Signed-off-by: Joep de Jong <joep@joepdejong.com>
Signed-off-by: GitHub <noreply@github.com>

pynmea2/types/proprietary/__init__.py

@@ -1,4 +1,5 @@
 from . import ash
+from . import fec
 from . import grm
 from . import kwd
 from . import mgn

pynmea2/types/proprietary/fec.py

@@ -0,0 +1,55 @@
+'''
+Support for proprietary messages from Furuno receivers.
+'''
+# Implemented by Joep de Jong
+# pylint: disable=wildcard-import,unused-wildcard-import
+
+from ... import nmea
+from ...nmea_utils import *
+
+class FEC(nmea.ProprietarySentence):
+    sentence_types = {}
+
+    def __new__(_cls, manufacturer, data):
+        name = manufacturer + data[1]
+        cls = _cls.sentence_types.get(name, _cls)
+        return super(FEC, cls).__new__(cls)
+
+class FECGPatt(FEC):
+    """
+        Furuno GPatt Message
+
+        $PFEC,GPatt,aaa.a,bb.b,cc.c,*hh<CR><LF>
+        $PFEC: Talker identifier + sentence formatter*
+        GPatt: Global positioning attitude, sentence formatter
+        aaa.a: Yaw (degrees)*
+        bb.b: Pitch (degrees)*
+        cc.c: Roll (degrees)*
+        *hh: Checksum*
+    """
+    fields = (
+        ('R', '_r'),
+        ('Subtype', 'subtype'),
+        ('Yaw', 'yaw', float),
+        ('Pitch', 'pitch', float),
+        ('Roll', 'roll', float),
+    )
+
+
+class FECGPhve(FEC):
+    """
+        Furuno GPatt Message
+
+        $PFEC,GPhve,xx.xxx,A*hh<CR><LF>
+        $PFEC: Talker identifier
+        GPhve: Datagram identifier
+        xx.xxx: Heave (Metres)
+        A: Status
+        *hh: Checksum
+    """
+
+    fields = (
+        ("R", "_r"),
+        ("Subtype", "subtype"),
+        ("Heave", "heave", float),
+    )

pynmea2/types/talker.py

@@ -1098,3 +1098,11 @@ class LAA(TalkerSentence):
         ("ClimbRate","ClimbRate"),
         ("Type","Type"),
     )
+
+# Implemented by Joep de Jong
+# GPHEV: Heave
+class HEV(TalkerSentence):
+    """
+    Heave
+    """
+    fields = (("Heave", "heave", float),)

test/test_fec.py

@@ -0,0 +1,21 @@
+import pynmea2
+
+
+def test_fecgpatt():
+    data = "$PFEC,GPatt,294.7,-02.5,+00.4*45"
+    msg = pynmea2.parse(data)
+    assert type(msg) == pynmea2.fec.FECGPatt
+    assert msg.manufacturer == 'FEC'
+    assert msg.yaw == 294.7
+    assert msg.pitch == -2.5
+    assert msg.roll == 0.4
+    assert msg.render() == data
+
+
+def test_fecgphve():
+    data = "$PFEC,GPhve,00.007,A*08"
+    msg = pynmea2.parse(data)
+    assert type(msg) == pynmea2.fec.FECGPhve
+    assert msg.manufacturer == "FEC"
+    assert msg.heave == 0.007
+    assert msg.render() == data

test/test_types.py

@@ -330,4 +330,14 @@ def test_ALR():
     assert msg.alarm_num == '006'
     assert msg.alarm_con == 'V'
     assert msg.alarm_state == 'V'
-    assert msg.description == 'AIS:general failure'
+    assert msg.description == 'AIS:general failure'
+
+
+def test_HEV():
+    data = "$GPHEV,-0.01*52"
+    msg = pynmea2.parse(data)
+    assert msg.render() == data
+    assert isinstance(msg, pynmea2.HEV)
+    assert msg.talker == "GP"
+    assert msg.sentence_type == "HEV"
+    assert msg.heave == -0.01