From f88b6cba54d5e7c9695eefc68fb506dd1fc08409 Mon Sep 17 00:00:00 2001
From: DarcyB <darcy@dbitech.ca>
Date: Mon, 16 Oct 2023 22:50:22 -0700
Subject: [PATCH] Kenwood lmr (#154)

* Initial supoport for proprietary Kenwood Land Mobile Radio AVL Data

* Kenwood FleetSync II
---
 pynmea2/types/proprietary/kwd.py | 132 +++++++++++++++++++++++++++++++
 test/test_proprietary.py         |  71 +++++++++++++++++
 2 files changed, 203 insertions(+)

diff --git a/pynmea2/types/proprietary/kwd.py b/pynmea2/types/proprietary/kwd.py
index ca80945..132572f 100644
--- a/pynmea2/types/proprietary/kwd.py
+++ b/pynmea2/types/proprietary/kwd.py
@@ -6,6 +6,54 @@
 from ... import nmea
 from ... import nmea_utils
 
+class KLD(nmea.ProprietarySentence):
+    sentence_types = {}
+
+    def __new__(_cls, manufacturer, data):
+        name = manufacturer + data[0]
+        cls = _cls.sentence_types.get(name, _cls)
+        return super(KLD, cls).__new__(cls)
+
+    def __init__(self, manufacturer, data):
+        self.sentence_type = manufacturer + data[0]
+        super(KLD, self).__init__(manufacturer, data)
+
+class KND(nmea.ProprietarySentence):
+    sentence_types = {}
+
+    def __new__(_cls, manufacturer, data):
+        name = manufacturer + data[0]
+        cls = _cls.sentence_types.get(name, _cls)
+        return super(KND, cls).__new__(cls)
+
+    def __init__(self, manufacturer, data):
+        self.sentence_type = manufacturer + data[0]
+        super(KND, self).__init__(manufacturer, data)
+
+class KLS(nmea.ProprietarySentence):
+    sentence_types = {}
+
+    def __new__(_cls, manufacturer, data):
+        name = manufacturer + data[0]
+        cls = _cls.sentence_types.get(name, _cls)
+        return super(KLS, cls).__new__(cls)
+
+    def __init__(self, manufacturer, data):
+        self.sentence_type = manufacturer + data[0]
+        super(KLS, self).__init__(manufacturer, data)
+
+class KNS(nmea.ProprietarySentence):
+    sentence_types = {}
+
+    def __new__(_cls, manufacturer, data):
+        name = manufacturer + data[0]
+        cls = _cls.sentence_types.get(name, _cls)
+        return super(KNS, cls).__new__(cls)
+
+    def __init__(self, manufacturer, data):
+        self.sentence_type = manufacturer + data[0]
+        super(KNS, self).__init__(manufacturer, data)
+
 
 class KWD(nmea.ProprietarySentence):
     sentence_types = {}
@@ -102,3 +150,87 @@ class KWDWPL(KWD, nmea_utils.LatLonFix, nmea_utils.DatetimeFix, nmea_utils.Valid
         ("Waypoint Name", "wname"),
         ("Table and Symbol", "ts"),
     )
+
+class KLDS(KLD, nmea_utils.LatLonFix, nmea_utils.DatetimeFix, nmea_utils.ValidStatusFix):
+    """
+    $PKLDS,hhmmss,v,ddmm.mm,ns,dddmm.mm,ew,speed,course,ddmmyy,DD.dd,ewSV,fleet,svid,status,fut*99
+    $PKLDS,001235,A,3544.6650,N,13940.1900,E,015.0,038.8,110498,10.80,W00,100,2000,15,00,*??
+    """
+    fields = (
+        ("Subtype", "subtype"),
+        ("Time of Receipt", "timestamp", nmea_utils.timestamp),
+        ("GPS Status (Void)","status"),
+        ("Latitude", "lat"),
+        ("Latitude Direction", "lat_dir"),
+        ("Longitude", "lon"),
+        ("Longitude Direction", "lon_dir"),
+        ("Speed over Ground Knot", "sog", float),
+        ("Course over Ground", "cog", float),
+        ("Date", "datestamp", nmea_utils.datestamp),
+        ("Magnetic variation", "declination", float),
+        ("Declination Direction", "dec_dir"),
+        ("Fleet", "fleet", Decimal),
+        ("Sender ID", "senderid"),
+        ("Sender Status", "senderstatus", Decimal),
+        ("Future Reserved", "future", Decimal),
+    )
+
+
+
+class KNDS(KND, nmea_utils.LatLonFix, nmea_utils.DatetimeFix, nmea_utils.ValidStatusFix):
+    """
+    $PKNDS,hhmmss,v,ddmm.mm,ns,dddmm.mm,ew,speed,course,ddmmyy,DD.dd,ewSV,svid,status,fut*99
+    $PKNDS,124640,A,4954.1458,N,11923.5992,W,000.0,000.0,120223,19.20,W00,U00002,207,00,*29
+
+    """
+    fields = (
+        ("Subtype", "subtype"),
+        ("Time of Receipt", "timestamp", nmea_utils.timestamp),
+        ("GPS Status (Void)","status"),
+        ("Latitude", "lat"),
+        ("Latitude Direction", "lat_dir"),
+        ("Longitude", "lon"),
+        ("Longitude Direction", "lon_dir"),
+        ("Speed over Ground Knot", "sog", float),
+        ("Course over Ground", "cog", float),
+        ("Date", "datestamp", nmea_utils.datestamp),
+        ("Magnetic variation", "declination", float),
+        ("Declination Direction", "dec_dir"),
+        ("Sender ID", "senderid"),
+        ("Sender Status", "senderstatus", Decimal),
+        ("Future Reserved", "future", Decimal),
+    )
+
+class KLSH(KLS, nmea_utils.LatLonFix, nmea_utils.DatetimeFix, nmea_utils.ValidStatusFix):
+    """
+    $PKLSH,ddmm.mm,ns,dddmm.mm,ew,hhmmss,v,fleet,svid,*99
+    $PKLSH,4000.0000,N,13500.0000,E,021720,A,100,2000,* ??
+    """
+    fields = (
+        ("Subtype", "subtype"),
+        ("Latitude", "lat"),
+        ("Latitude Direction", "lat_dir"),
+        ("Longitude", "lon"),
+        ("Longitude Direction", "lon_dir"),
+        ("Time of Receipt", "timestamp", nmea_utils.timestamp),
+        ("GPS Status (Void)","status"),
+        ("Fleet", "fleet", Decimal),
+        ("Sender ID", "senderid"),
+    )
+
+class KNSH(KNS, nmea_utils.LatLonFix, nmea_utils.DatetimeFix, nmea_utils.ValidStatusFix):
+    """
+    $PKLSH,ddmm.mm,ns,dddmm.mm,ew,hhmmss,v,svid,*99
+    $PKNSH,4000.0000,N,13500.0000,E,021720,A,U00001,* ??
+    """
+    fields = (
+        ("Subtype", "subtype"),
+        ("Latitude", "lat"),
+        ("Latitude Direction", "lat_dir"),
+        ("Longitude", "lon"),
+        ("Longitude Direction", "lon_dir"),
+        ("Time of Receipt", "timestamp", nmea_utils.timestamp),
+        ("GPS Status (Void)","status"),
+        ("Sender ID", "senderid"),
+    )
+
diff --git a/test/test_proprietary.py b/test/test_proprietary.py
index 58995f8..ce6aea3 100644
--- a/test/test_proprietary.py
+++ b/test/test_proprietary.py
@@ -255,3 +255,74 @@ def test_KWDWPL():
     assert msg.ts == '/-'
     assert msg.latitude == 45.529833333333336
     assert msg.longitude == -122.89133333333334
+
+def test_PKNDS():
+    # A sample proprietary Kenwood sentence used for GPS data communications in NEXEDGE Digital
+    data = "$PKNDS,114400,A,4954.1450,N,11923.6043,W,001.4,356.8,130223,19.20,W00,U00002,207,00,*2E"
+    msg = pynmea2.parse(data)
+    assert msg.manufacturer == "KND"
+    assert msg.timestamp == datetime.time(11, 44, 00, tzinfo=datetime.timezone.utc)
+    assert msg.status == 'A'
+    assert msg.is_valid == True
+    assert msg.lat == '4954.1450'
+    assert msg.lat_dir == 'N'
+    assert msg.lon == '11923.6043'
+    assert msg.lon_dir == 'W'
+    assert msg.datestamp == datetime.date(2023, 2, 13)
+    assert msg.datetime == datetime.datetime(2023, 2, 13, 11, 44, 00, tzinfo=datetime.timezone.utc)
+    assert msg.senderid == 'U00002'
+    assert msg.senderstatus  == 207
+    assert msg.latitude == 49.90241666666667
+    assert msg.longitude == -119.393405
+
+def test_PKNSH():
+    # A sample proprietary Kenwood sentence used for GPS data communications in NEXEDGE Digital
+    data = "$PKNSH,4954.1450,N,11923.6043,W,114400,A,U00002,*44"
+    msg = pynmea2.parse(data)
+    assert msg.manufacturer == "KNS"
+    assert msg.timestamp == datetime.time(11, 44, 00, tzinfo=datetime.timezone.utc)
+    assert msg.status == 'A'
+    assert msg.is_valid == True
+    assert msg.lat == '4954.1450'
+    assert msg.lat_dir == 'N'
+    assert msg.lon == '11923.6043'
+    assert msg.lon_dir == 'W'
+    assert msg.senderid == 'U00002'
+    assert msg.latitude == 49.90241666666667
+    assert msg.longitude == -119.393405
+
+def test_PKLDS():
+    # A sample proprietary Kenwood sentence used for GPS data communications in FleetSync II signaling
+    data = "$PKLDS,122434,A,4954.1474,N,11923.6044,W,001.1,194.9,130223,19.20,W00,100,1001,80,00,*60"
+    msg = pynmea2.parse(data)
+    assert msg.manufacturer == "KLD"
+    assert msg.timestamp == datetime.time(12, 24, 34, tzinfo=datetime.timezone.utc)
+    assert msg.status == 'A'
+    assert msg.is_valid == True
+    assert msg.lat == '4954.1474'
+    assert msg.lat_dir == 'N'
+    assert msg.lon == '11923.6044'
+    assert msg.lon_dir == 'W'
+    assert msg.datestamp == datetime.date(2023, 2, 13)
+    assert msg.datetime == datetime.datetime(2023, 2, 13, 12, 24, 34, tzinfo=datetime.timezone.utc)
+    assert msg.senderid == '1001'
+    assert msg.fleet == 100
+    assert msg.latitude == 49.902456666666666
+    assert msg.longitude == -119.39340666666666
+
+def test_PKLSH():
+    # A sample proprietary Kenwood sentence used for GPS data communications in FleetSync II signaling
+    data = "$PKLSH,4954.1474,N,11923.6044,W,122434,A,100,1001,*3F"
+    msg = pynmea2.parse(data)
+    assert msg.manufacturer == "KLS"
+    assert msg.timestamp == datetime.time(12, 24, 34, tzinfo=datetime.timezone.utc)
+    assert msg.status == 'A'
+    assert msg.is_valid == True
+    assert msg.lat == '4954.1474'
+    assert msg.lat_dir == 'N'
+    assert msg.lon == '11923.6044'
+    assert msg.lon_dir == 'W'
+    assert msg.senderid == '1001'
+    assert msg.fleet == 100
+    assert msg.latitude == 49.902456666666666
+    assert msg.longitude == -119.39340666666666