gps - npm Package Compare versions

Comparing version 0.5.1 to 0.5.2

bower.json

 {
     "name": "gps",
     "main": "gps.js",
-    "version": "0.5.1",
+    "version": "0.5.2",
     "homepage": "https://github.com/infusion/GPS.js",
@@ -6,0 +6,0 @@ "description": "A GPS NMEA parser library",

examples/maps/server.js

@@ -6,2 +6,5 @@
 
+var Sylvester = require('sylvester');
+var Kalman = require('kalman').KF;
+
 // var file = '/dev/cu.usbserial';
@@ -29,4 +32,37 @@ // var file = '/dev/ttyUSB0';
 
-gps.on('GGA', function(data) {
-  io.emit('position', data);
+// Simple Kalman Filter set up
+var A = Sylvester.Matrix.I(2);
+var B = Sylvester.Matrix.Zero(2, 2);
+var H = Sylvester.Matrix.I(2);
+var C = Sylvester.Matrix.I(2);
+var Q = Sylvester.Matrix.I(2).multiply(1e-11);
+var R = Sylvester.Matrix.I(2).multiply(0.00001);
+
+// Measure
+var u = $V([0, 0]);
+
+var filter = new Kalman($V([0, 0]), $M([[1, 0], [0, 1]]));
+
+gps.on('data', function(data) {
+
+  if (data.lat && data.lon) {
+
+    filter.update({
+      A: A,
+      B: B,
+      C: C,
+      H: H,
+      R: R,
+      Q: Q,
+      u: u,
+      y: $V([data.lat, data.lon])
+    });
+
+    gps.state.position = {
+      cov: filter.P.elements,
+      pos: filter.x.elements
+    };
+  }
+
+  io.emit('position', gps.state);
 });
@@ -33,0 +69,0 @@

gps.js

 /**
- * @license GPS.js v0.5.1 26/01/2016
+ * @license GPS.js v0.5.2 26/01/2016
  *
@@ -15,7 +15,2 @@ * Copyright (c) 2016, Robert Eisele ([e-mail])
 
-  var MIN_LON = -Math.PI;
-  var MAX_LON = Math.PI;
-  var MIN_LAT = -Math.PI / 2;
-  var MAX_LAT = Math.PI / 2;
-
   var collectSats = [];
@@ -26,3 +21,3 @@
     // TODO: can we really use RMC time here or is it the time of fix?
-    if (data['type'] === 'RMC' || data['type'] === 'GGA' || data['type'] === 'GLL') {
+    if (data['type'] === 'RMC' || data['type'] === 'GGA' || data['type'] === 'GLL' || data['type'] === 'GNS') {
       state['time'] = data['time'];
@@ -198,7 +193,7 @@ state['lat'] = data['lat'];
       case 4:
-        return 'rtk'; // valid RTK fix
+        return 'rtk'; // valid (real time kinematic) RTK fix
       case 5:
-        return 'rtk-float'; // valid RTK float
+        return 'rtk-float'; // valid (real time kinematic) RTK float
       case 6:
-        return 'estimated';
+        return 'estimated'; // dead reckoning
       case 7:
@@ -244,2 +239,4 @@ return 'manual';
     switch (faa) {
+      case '':
+        return null;
       case 'A':
@@ -250,3 +247,3 @@ return 'autonomous';
       case 'E':
-        return 'estimated';
+        return 'estimated'; // dead reckoning
       case 'M':
@@ -260,2 +257,6 @@ return 'manual input';
         return 'precise';
+      case 'R':
+        return 'rtk'; // valid (real time kinematic) RTK fix
+      case 'F':
+        return 'rtk-float'; // valid (real time kinematic) RTK float
     }
@@ -327,3 +328,3 @@ throw new Error('INVALID FAA MODE: ' + faa);
        $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
-
+       
        1) Time (UTC)
@@ -365,3 +366,3 @@ 2) Latitude
 
-      if (gsa.length !== 19) {
+      if (gsa.length !== 19 && gsa.length !== 20) {
         throw new Error('Invalid GSA length: ' + str);
@@ -373,4 +374,4 @@ }
        eg2. $GPGSA,A,3,19,28,14,18,27,22,31,39,,,,,1.7,1.0,1.3*35
-
-
+       
+       
        1    = Mode:
@@ -387,2 +388,3 @@ M=Manual, forced to operate in 2D or 3D
        17   = VDOP
+       (18) = systemID NMEA 4.10
        18   = Checksum
@@ -405,3 +407,4 @@ */
         'hdop': parseNumber(gsa[16]),
-        'vdop': parseNumber(gsa[17])
+        'vdop': parseNumber(gsa[17]),
+        'systemId': gsa.length > 19 ? parseNumber(gsa[18]) : null
       };
@@ -412,3 +415,3 @@ },
 
-      if (rmc.length !== 13 && rmc.length !== 14) {
+      if (rmc.length !== 13 && rmc.length !== 14 && rmc.length !== 15) {
         throw new Error('Invalid RMC length: ' + str);
@@ -419,3 +422,3 @@ }
        $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
-
+       
        RMC  = Recommended Minimum Specific GPS/TRANSIT Data
@@ -434,2 +437,3 @@ 1    = UTC of position fix
        (12) = NMEA 2.3 introduced FAA mode indicator (A=Autonomous, D=Differential, E=Estimated, N=Data not valid)
+       (13) = NMEA 4.10 introduced nav status
        12   = Checksum
@@ -446,3 +450,4 @@ */
         'variation': parseRMCVariation(rmc[10], rmc[11]),
-        'faa': rmc.length === 14 ? parseFAA(rmc[12]) : null
+        'faa': rmc.length > 13 ? parseFAA(rmc[12]) : null,
+        'navStatus': rmc.length > 14 ? rmc[13] : null
       };
@@ -463,3 +468,3 @@ },
        ------------------------------------------------------------------------------
-
+       
        1    = Track made good (degrees true)
@@ -505,3 +510,3 @@ 2    = Fixed text 'T' indicates that track made good is relative to true north
 
-      if (gsv.length < 9 || gsv.length % 4 % 3 === 0) {
+      if (gsv.length % 4 % 3 === 0) {
         throw new Error('Invalid GSV length: ' + str);
@@ -512,3 +517,3 @@ }
        $GPGSV,1,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*67
-
+       
        1    = Total number of messages of this type in this cycle
@@ -536,3 +541,3 @@ 2    = Message number
          by linear map elevation from 0° to 90° into r to 0
-
+         
          centerX + cos(azimuth - 90) * (1 - elevation / 90) * radius
@@ -561,3 +566,3 @@ centerY + sin(azimuth - 90) * (1 - elevation / 90) * radius
 
-      if (gll.length !== 9) {
+      if (gll.length !== 9 && gll.length !== 8) {
         throw new Error('Invalid GLL length: ' + str);
@@ -572,3 +577,3 @@ }
        ------------------------------------------------------------------------------
-
+       
        1. Latitude
@@ -588,3 +593,4 @@ 2. N or S (North or South)
         'lat': parseCoord(gll[1], gll[2]),
-        'lon': parseCoord(gll[3], gll[4])
+        'lon': parseCoord(gll[3], gll[4]),
+        'faa': gll.length === 9 ? parseFAA(gll[7]) : null
       };
@@ -654,3 +660,3 @@ },
        ------------------------------------------------------------------------------
-
+       
        1. Heading in degrees
@@ -665,2 +671,79 @@ 2. T: indicates heading relative to True North
       };
+    },
+
+    'GRS': function(str, grs) {
+
+      if (grs.length !== 18) {
+        throw new Error('Invalid GRS length: ' + str);
+      }
+
+      var res = [];
+      for (var i = 3; i <= 14; i++) {
+        var tmp = parseNumber(grs[i]);
+        if (tmp !== null)
+          res.push(tmp);
+      }
+
+      return {
+        'time': parseTime(grs[1]),
+        'mode': parseNumber(grs[2]),
+        'res': res
+      };
+    },
+    'GBS': function(str, gbs) {
+
+      if (gbs.length !== 10 && gbs.length !== 12) {
+        throw new Error('Invalid GBS length: ' + str);
+      }
+
+      /*
+       0      1   2   3   4   5   6   7   8
+       |      |   |   |   |   |   |   |   |
+       $--GBS,hhmmss.ss,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hh<CR><LF>
+       
+       1. UTC time of the GGA or GNS fix associated with this sentence
+       2. Expected error in latitude (meters)
+       3. Expected error in longitude (meters)
+       4. Expected error in altitude (meters)
+       5. PRN (id) of most likely failed satellite
+       6. Probability of missed detection for most likely failed satellite
+       7. Estimate of bias in meters on most likely failed satellite
+       8. Standard deviation of bias estimate
+       --
+       9. systemID (NMEA 4.10)
+       10. signalID (NMEA 4.10)
+       */
+
+      return {
+        'time': parseTime(gbs[1]),
+        'errLat': parseNumber(gbs[2]),
+        'errLon': parseNumber(gbs[3]),
+        'errAlt': parseNumber(gbs[4]),
+        'failedSat': parseNumber(gbs[5]),
+        'probFailedSat': parseNumber(gbs[6]),
+        'biasFailedSat': parseNumber(gbs[7]),
+        'stdFailedSat': parseNumber(gbs[8]),
+        'systemId': gbs.length === 12 ? parseNumber(gbs[9]) : null,
+        'signalId': gbs.length === 12 ? parseNumber(gbs[10]) : null
+      };
+    },
+    'GNS': function(str, gns) {
+
+      if (gns.length !== 14 && gns.length !== 15) {
+        throw new Error('Invalid GNS length: ' + str);
+      }
+
+      return {
+        'time': parseTime(gns[1]),
+        'lat': parseCoord(gns[2], gns[3]),
+        'lon': parseCoord(gns[4], gns[5]),
+        'mode': gns[6],
+        'satsUsed': parseNumber(gns[7]),
+        'hdop': parseNumber(gns[8]),
+        'alt': parseNumber(gns[9]),
+        'sep': parseNumber(gns[10]),
+        'diffAge': parseNumber(gns[11]),
+        'diffStation': parseNumber(gns[12]),
+        'navStatus': gns.length === 15 ? gns[13] : null  // NMEA 4.10
+      };
     }
@@ -667,0 +750,0 @@ };

gps.min.js

 /*
-GPS.js v0.5.1 26/01/2016
+GPS.js v0.5.2 26/01/2016
 
@@ -7,14 +7,15 @@ Copyright (c) 2016, Robert Eisele ([e-mail])
 */
-(function(t){function l(b,a){if(""===b)return null;var d=new Date;if(a){var c=a.slice(4),g=a.slice(2,4)-1,e=a.slice(0,2);4===c.length?d.setUTCFullYear(Number(c),Number(g),Number(e)):d.setUTCFullYear(Number("20"+c),Number(g),Number(e))}d.setUTCHours(Number(b.slice(0,2)));d.setUTCMinutes(Number(b.slice(2,4)));d.setUTCSeconds(Number(b.slice(4,6)));c=b.slice(7);g=c.length;e=0;0!==g&&(e=parseFloat(c)*Math.pow(10,3-g));d.setUTCMilliseconds(Number(e));return d}function k(b,a){if(""===b)return null;var d=
-1;switch(a){case "S":d=-1;case "N":var c=2;break;case "W":d=-1;case "E":c=3}return d*(parseFloat(b.slice(0,c))+parseFloat(b.slice(c))/60)}function e(b){return""===b?null:parseFloat(b)}function n(b){return""===b?null:1.852*parseFloat(b)}function u(b){if(""===b)return null;switch(parseInt(b,10)){case 0:return null;case 1:return"fix";case 2:return"dgps-fix";case 3:return"pps-fix";case 4:return"rtk";case 5:return"rtk-float";case 6:return"estimated";case 7:return"manual";case 8:return"simulated"}throw Error("INVALID GGA FIX: "+
-b);}function p(b){switch(b){case "A":return"active";case "V":return"void";case "":return null}throw Error("INVALID RMC/GLL STATUS: "+b);}function q(b){switch(b){case "A":return"autonomous";case "D":return"differential";case "E":return"estimated";case "M":return"manual input";case "S":return"simulated";case "N":return"not valid";case "P":return"precise"}throw Error("INVALID FAA MODE: "+b);}function r(b,a){if("M"===a||""===a)return e(b);throw Error("Unknown unit: "+a);}function f(){if(!(this instanceof
-f))return new f;this.events={};this.state={errors:0,processed:0}}var h=Math.PI/180,m=[];f.prototype.events=null;f.prototype.state=null;f.mod={GGA:function(b,a){if(16!==a.length)throw Error("Invalid GGA length: "+b);return{time:l(a[1]),lat:k(a[2],a[3]),lon:k(a[4],a[5]),alt:r(a[9],a[10]),quality:u(a[6]),satellites:e(a[7]),hdop:e(a[8]),geoidal:r(a[11],a[12]),age:e(a[13]),stationID:e(a[14])}},GSA:function(b,a){if(19!==a.length)throw Error("Invalid GSA length: "+b);for(var d=[],c=3;15>c;c++)""!==a[c]&&
-d.push(parseInt(a[c],10));a:{c=a[1];switch(c){case "M":c="manual";break a;case "A":c="automatic";break a;case "":c=null;break a}throw Error("INVALID GSA MODE: "+c);}a:{var g=a[2];switch(g){case "1":case "":g=null;break a;case "2":g="2D";break a;case "3":g="3D";break a}throw Error("INVALID GSA FIX: "+g);}return{mode:c,fix:g,satellites:d,pdop:e(a[15]),hdop:e(a[16]),vdop:e(a[17])}},RMC:function(b,a){if(13!==a.length&&14!==a.length)throw Error("Invalid RMC length: "+b);var d=l(a[1],a[9]),c=p(a[2]),g=
-a[10],f=a[11];return{time:d,status:c,lat:k(a[3],a[4]),lon:k(a[5],a[6]),speed:n(a[7]),track:e(a[8]),variation:""===g||""===f?null:parseFloat(g)*("W"===f?-1:1),faa:14===a.length?q(a[12]):null}},VTG:function(b,a){if(10!==a.length&&11!==a.length)throw Error("Invalid VTG length: "+b);if(""===a[2]&&""===a[8]&&""===a[6])return{track:null,trackMagetic:null,speed:null,faa:null};if("T"!==a[2])throw Error("Invalid VTG track mode: "+b);if("K"!==a[8]||"N"!==a[6])throw Error("Invalid VTG speed tag: "+b);return{track:e(a[1]),
-trackMagnetic:""===a[3]?null:e(a[3]),speed:n(a[5]),faa:11===a.length?q(a[9]):null}},GSV:function(b,a){if(9>a.length||0===a.length%4%3)throw Error("Invalid GSV length: "+b);for(var d=[],c=4;c<a.length-3;c+=4){var g=e(a[c]),f=e(a[c+3]);d.push({prn:g,elevation:e(a[c+1]),azimuth:e(a[c+2]),snr:f,status:null!==g?null!==f?"tracking":"in view":null})}return{msgNumber:e(a[2]),msgsTotal:e(a[1]),satellites:d,signalId:2===a.length%4?e(a[a.length-2]):null}},GLL:function(b,a){if(9!==a.length)throw Error("Invalid GLL length: "+
-b);return{time:l(a[5]),status:p(a[6]),lat:k(a[1],a[2]),lon:k(a[3],a[4])}},ZDA:function(b,a){return{time:l(a[1],a[2]+a[3]+a[4])}},GST:function(b,a){if(10!==a.length)throw Error("Invalid GST length: "+b);return{time:l(a[1]),rms:e(a[2]),ellipseMajor:e(a[3]),ellipseMinor:e(a[4]),ellipseOrientation:e(a[5]),latitudeError:e(a[6]),longitudeError:e(a[7]),heightError:e(a[8])}},HDT:function(b,a){if(4!==a.length)throw Error("Invalid HDT length: "+b);return{heading:parseFloat(a[1]),trueNorth:"T"===a[2]}}};f.Parse=
-function(b){if("string"!==typeof b)return!1;var a=b.split(","),d=a.pop();if(2>a.length||"$"!==b.charAt(0)||-1===d.indexOf("*"))return!1;d=d.split("*");a.push(d[0]);a.push(d[1]);a[0]=a[0].slice(3);if(void 0!==f.mod[a[0]]){d=this.mod[a[0]](b,a);d.raw=b;for(var c=0,e=1;e<b.length;e++){var h=b.charCodeAt(e);if(42===h)break;c^=h}d.valid=c===parseInt(a[a.length-1],16);d.type=a[0];return d}return!1};f.Heading=function(b,a,d,c){a=(c-a)*h;b*=h;d*=h;c=Math.cos(d);return(180*Math.atan2(Math.sin(a)*c,Math.cos(b)*
-Math.sin(d)-Math.sin(b)*c*Math.cos(a))/Math.PI+360)%360};f.Distance=function(b,a,d,c){var e=(d-b)*h*.5;a=(c-a)*h*.5;b*=h;d*=h;e=Math.sin(e);a=Math.sin(a);return 12745.6*Math.asin(Math.sqrt(e*e+Math.cos(b)*Math.cos(d)*a*a))};f.TotalDistance=function(b){if(2>b.length)return 0;for(var a=0,d=0;d<b.length-1;d++){var c=b[d],e=b[d+1];a+=f.Distance(c.lat,c.lon,e.lat,e.lon)}return a};f.prototype.update=function(b){b=f.Parse(b);this.state.processed++;if(!1===b)return this.state.errors++,!1;var a=this.state;
-if("RMC"===b.type||"GGA"===b.type||"GLL"===b.type)a.time=b.time,a.lat=b.lat,a.lon=b.lon;"ZDA"===b.type&&(a.time=b.time);"GGA"===b.type&&(a.alt=b.alt);"RMC"===b.type&&(a.speed=b.speed,a.track=b.track);"GSA"===b.type&&(a.satsActive=b.satellites,a.fix=b.fix,a.hdop=b.hdop,a.pdop=b.pdop,a.vdop=b.vdop);if("GSV"===b.type){for(var d=b.satellites,c=0;c<d.length;c++)m.push(d[c]);b.msgNumber===b.msgsTotal&&(a.satsVisible=m,m=[])}this.emit("data",b);this.emit(b.type,b);return!0};f.prototype.partial="";f.prototype.updatePartial=
-function(b){for(this.partial+=b;;){b=this.partial.indexOf("\r\n");if(-1===b)break;var a=this.partial.slice(0,b);"$"===a.charAt(0)&&this.update(a);this.partial=this.partial.slice(b+2)}};f.prototype.on=function(b,a){return void 0===this.events[b]?(this.events[b]=a,this):null};f.prototype.off=function(b){void 0!==this.events[b]&&(this.events[b]=void 0);return this};f.prototype.emit=function(b,a){void 0!==this.events[b]&&this.events[b].call(this,a)};"object"===typeof exports?(Object.defineProperty(exports,
-"__esModule",{value:!0}),f["default"]=f,f.GPS=f,module.exports=f):t.GPS=f})(this);
+(function(t){function f(b,a){if(""===b)return null;var g=new Date;if(a){var d=a.slice(4),c=a.slice(2,4)-1,e=a.slice(0,2);4===d.length?g.setUTCFullYear(Number(d),Number(c),Number(e)):g.setUTCFullYear(Number("20"+d),Number(c),Number(e))}g.setUTCHours(Number(b.slice(0,2)));g.setUTCMinutes(Number(b.slice(2,4)));g.setUTCSeconds(Number(b.slice(4,6)));d=b.slice(7);c=d.length;e=0;0!==c&&(e=parseFloat(d)*Math.pow(10,3-c));g.setUTCMilliseconds(Number(e));return g}function h(b,a){if(""===b)return null;var c=
+1;switch(a){case "S":c=-1;case "N":var d=2;break;case "W":c=-1;case "E":d=3}return c*(parseFloat(b.slice(0,d))+parseFloat(b.slice(d))/60)}function c(b){return""===b?null:parseFloat(b)}function p(b){return""===b?null:1.852*parseFloat(b)}function u(b){if(""===b)return null;switch(parseInt(b,10)){case 0:return null;case 1:return"fix";case 2:return"dgps-fix";case 3:return"pps-fix";case 4:return"rtk";case 5:return"rtk-float";case 6:return"estimated";case 7:return"manual";case 8:return"simulated"}throw Error("INVALID GGA FIX: "+
+b);}function q(b){switch(b){case "A":return"active";case "V":return"void";case "":return null}throw Error("INVALID RMC/GLL STATUS: "+b);}function l(b){switch(b){case "":return null;case "A":return"autonomous";case "D":return"differential";case "E":return"estimated";case "M":return"manual input";case "S":return"simulated";case "N":return"not valid";case "P":return"precise";case "R":return"rtk";case "F":return"rtk-float"}throw Error("INVALID FAA MODE: "+b);}function r(b,a){if("M"===a||""===a)return c(b);
+throw Error("Unknown unit: "+a);}function e(){if(!(this instanceof e))return new e;this.events={};this.state={errors:0,processed:0}}var k=Math.PI/180,m=[];e.prototype.events=null;e.prototype.state=null;e.mod={GGA:function(b,a){if(16!==a.length)throw Error("Invalid GGA length: "+b);return{time:f(a[1]),lat:h(a[2],a[3]),lon:h(a[4],a[5]),alt:r(a[9],a[10]),quality:u(a[6]),satellites:c(a[7]),hdop:c(a[8]),geoidal:r(a[11],a[12]),age:c(a[13]),stationID:c(a[14])}},GSA:function(b,a){if(19!==a.length&&20!==a.length)throw Error("Invalid GSA length: "+
+b);for(var g=[],d=3;15>d;d++)""!==a[d]&&g.push(parseInt(a[d],10));a:{d=a[1];switch(d){case "M":d="manual";break a;case "A":d="automatic";break a;case "":d=null;break a}throw Error("INVALID GSA MODE: "+d);}a:{var e=a[2];switch(e){case "1":case "":e=null;break a;case "2":e="2D";break a;case "3":e="3D";break a}throw Error("INVALID GSA FIX: "+e);}return{mode:d,fix:e,satellites:g,pdop:c(a[15]),hdop:c(a[16]),vdop:c(a[17]),systemId:19<a.length?c(a[18]):null}},RMC:function(b,a){if(13!==a.length&&14!==a.length&&
+15!==a.length)throw Error("Invalid RMC length: "+b);var g=f(a[1],a[9]),d=q(a[2]),e=a[10],n=a[11];return{time:g,status:d,lat:h(a[3],a[4]),lon:h(a[5],a[6]),speed:p(a[7]),track:c(a[8]),variation:""===e||""===n?null:parseFloat(e)*("W"===n?-1:1),faa:13<a.length?l(a[12]):null,navStatus:14<a.length?a[13]:null}},VTG:function(b,a){if(10!==a.length&&11!==a.length)throw Error("Invalid VTG length: "+b);if(""===a[2]&&""===a[8]&&""===a[6])return{track:null,trackMagetic:null,speed:null,faa:null};if("T"!==a[2])throw Error("Invalid VTG track mode: "+
+b);if("K"!==a[8]||"N"!==a[6])throw Error("Invalid VTG speed tag: "+b);return{track:c(a[1]),trackMagnetic:""===a[3]?null:c(a[3]),speed:p(a[5]),faa:11===a.length?l(a[9]):null}},GSV:function(b,a){if(0===a.length%4%3)throw Error("Invalid GSV length: "+b);for(var g=[],d=4;d<a.length-3;d+=4){var e=c(a[d]),f=c(a[d+3]);g.push({prn:e,elevation:c(a[d+1]),azimuth:c(a[d+2]),snr:f,status:null!==e?null!==f?"tracking":"in view":null})}return{msgNumber:c(a[2]),msgsTotal:c(a[1]),satellites:g,signalId:2===a.length%
+4?c(a[a.length-2]):null}},GLL:function(b,a){if(9!==a.length&&8!==a.length)throw Error("Invalid GLL length: "+b);return{time:f(a[5]),status:q(a[6]),lat:h(a[1],a[2]),lon:h(a[3],a[4]),faa:9===a.length?l(a[7]):null}},ZDA:function(b,a){return{time:f(a[1],a[2]+a[3]+a[4])}},GST:function(b,a){if(10!==a.length)throw Error("Invalid GST length: "+b);return{time:f(a[1]),rms:c(a[2]),ellipseMajor:c(a[3]),ellipseMinor:c(a[4]),ellipseOrientation:c(a[5]),latitudeError:c(a[6]),longitudeError:c(a[7]),heightError:c(a[8])}},
+HDT:function(b,a){if(4!==a.length)throw Error("Invalid HDT length: "+b);return{heading:parseFloat(a[1]),trueNorth:"T"===a[2]}},GRS:function(b,a){if(18!==a.length)throw Error("Invalid GRS length: "+b);for(var g=[],d=3;14>=d;d++){var e=c(a[d]);null!==e&&g.push(e)}return{time:f(a[1]),mode:c(a[2]),res:g}},GBS:function(b,a){if(10!==a.length&&12!==a.length)throw Error("Invalid GBS length: "+b);return{time:f(a[1]),errLat:c(a[2]),errLon:c(a[3]),errAlt:c(a[4]),failedSat:c(a[5]),probFailedSat:c(a[6]),biasFailedSat:c(a[7]),
+stdFailedSat:c(a[8]),systemId:12===a.length?c(a[9]):null,signalId:12===a.length?c(a[10]):null}},GNS:function(b,a){if(14!==a.length&&15!==a.length)throw Error("Invalid GNS length: "+b);return{time:f(a[1]),lat:h(a[2],a[3]),lon:h(a[4],a[5]),mode:a[6],satsUsed:c(a[7]),hdop:c(a[8]),alt:c(a[9]),sep:c(a[10]),diffAge:c(a[11]),diffStation:c(a[12]),navStatus:15===a.length?a[13]:null}}};e.Parse=function(b){if("string"!==typeof b)return!1;var a=b.split(","),c=a.pop();if(2>a.length||"$"!==b.charAt(0)||-1===c.indexOf("*"))return!1;
+c=c.split("*");a.push(c[0]);a.push(c[1]);a[0]=a[0].slice(3);if(void 0!==e.mod[a[0]]){c=this.mod[a[0]](b,a);c.raw=b;for(var d=0,f=1;f<b.length;f++){var h=b.charCodeAt(f);if(42===h)break;d^=h}c.valid=d===parseInt(a[a.length-1],16);c.type=a[0];return c}return!1};e.Heading=function(b,a,c,d){a=(d-a)*k;b*=k;c*=k;d=Math.cos(c);return(180*Math.atan2(Math.sin(a)*d,Math.cos(b)*Math.sin(c)-Math.sin(b)*d*Math.cos(a))/Math.PI+360)%360};e.Distance=function(b,a,c,d){var e=(c-b)*k*.5;a=(d-a)*k*.5;b*=k;c*=k;e=Math.sin(e);
+a=Math.sin(a);return 12745.6*Math.asin(Math.sqrt(e*e+Math.cos(b)*Math.cos(c)*a*a))};e.TotalDistance=function(b){if(2>b.length)return 0;for(var a=0,c=0;c<b.length-1;c++){var d=b[c],f=b[c+1];a+=e.Distance(d.lat,d.lon,f.lat,f.lon)}return a};e.prototype.update=function(b){b=e.Parse(b);this.state.processed++;if(!1===b)return this.state.errors++,!1;var a=this.state;if("RMC"===b.type||"GGA"===b.type||"GLL"===b.type||"GNS"===b.type)a.time=b.time,a.lat=b.lat,a.lon=b.lon;"ZDA"===b.type&&(a.time=b.time);"GGA"===
+b.type&&(a.alt=b.alt);"RMC"===b.type&&(a.speed=b.speed,a.track=b.track);"GSA"===b.type&&(a.satsActive=b.satellites,a.fix=b.fix,a.hdop=b.hdop,a.pdop=b.pdop,a.vdop=b.vdop);if("GSV"===b.type){for(var c=b.satellites,d=0;d<c.length;d++)m.push(c[d]);b.msgNumber===b.msgsTotal&&(a.satsVisible=m,m=[])}this.emit("data",b);this.emit(b.type,b);return!0};e.prototype.partial="";e.prototype.updatePartial=function(b){for(this.partial+=b;;){b=this.partial.indexOf("\r\n");if(-1===b)break;var a=this.partial.slice(0,
+b);"$"===a.charAt(0)&&this.update(a);this.partial=this.partial.slice(b+2)}};e.prototype.on=function(b,a){return void 0===this.events[b]?(this.events[b]=a,this):null};e.prototype.off=function(b){void 0!==this.events[b]&&(this.events[b]=void 0);return this};e.prototype.emit=function(b,a){void 0!==this.events[b]&&this.events[b].call(this,a)};"object"===typeof exports?(Object.defineProperty(exports,"__esModule",{value:!0}),e["default"]=e,e.GPS=e,module.exports=e):t.GPS=e})(this);

package.json

 {
     "name": "gps",
     "title": "gps.js",
-    "version": "0.5.1",
-    "homepage": "https://github.com/infusion/GPS.js",
+    "version": "0.5.2",
+    "homepage": "https://www.xarg.org/2016/07/using-gps-with-node-js-and-javascript/",
     "bugs": "https://github.com/infusion/GPS.js/issues",
@@ -50,7 +50,9 @@ "description": "A GPS NMEA parser library",
         "chai": "^4.1.0",
-        "express": "^4.15.3",
+        "express": "^4.16.4",
         "mocha": "^5.2.0",
         "serialport": "^7.1.1",
-        "socket.io": "^2.0.3"
+        "socket.io": "^2.0.3",
+        "kalman": "0.0.2",
+        "sylvester": "0.0.21"
     }
 }

tests/parser.js

@@ -27,2 +27,3 @@
     'type': 'GSA',
+    "systemId": null,
     'valid': true,
@@ -38,2 +39,3 @@ 'vdop': 1
     'track': 2.93,
+    "navStatus": null,
     'raw': '$GPRMC,234919.000,A,4832.3914,N,00903.5500,E,2.28,2.93,260116,,*0D',
@@ -94,2 +96,3 @@ 'type': 'RMC',
     'type': 'RMC',
+    "navStatus": null,
     'faa': null,
@@ -160,2 +163,3 @@ 'valid': true,
     'pdop': 1.72,
+    "systemId": null,
     'raw': '$GPGSA,A,3,10,07,05,02,29,04,08,13,,,,,1.72,1.03,1.38*0A',
@@ -221,2 +225,3 @@ 'satellites': [
     'type': 'RMC',
+    "navStatus": null,
     'valid': true,
@@ -247,2 +252,3 @@ 'variation': -3.1
     'raw': '$GPGSA,A,3,12,05,25,29,,,,,,,,,9.4,7.6,5.6*37',
+    "systemId": null,
     'satellites': [
@@ -402,2 +408,3 @@ 12,
     'type': 'RMC',
+    "navStatus": null,
     'valid': true,
@@ -431,2 +438,3 @@ 'variation': null
     'type': 'RMC',
+    "navStatus": null,
     'valid': true,
@@ -442,3 +450,4 @@ 'variation': null
     'type': 'GLL',
-    'valid': true
+    'valid': true,
+    "faa": "differential"
   },
@@ -452,3 +461,4 @@ '$GPGLL,4916.45,N,12311.12,W,225444,A,*1D': {
     'type': 'GLL',
-    'valid': true
+    'valid': true,
+    'faa': null
   },
@@ -704,2 +714,180 @@ '$GPGGA,174815.40,4141.46474,N,00849.77225,W,1,08,1.24,11.8,M,50.5,M,,*76': {
     "valid": true
+  },
+  "$GNRMC,191029.00,A,4843.01033,N,00227.78756,E,0.024,,010319,,,A,V*1C": {
+    "faa": "autonomous",
+    "lat": 48.716838833333334,
+    "lon": 2.463126,
+    "navStatus": "V",
+    "raw": "$GNRMC,191029.00,A,4843.01033,N,00227.78756,E,0.024,,010319,,,A,V*1C",
+    "speed": 0.044448,
+    "status": "active",
+    "time": new Date("2019-03-01T19:10:29.000Z"),
+    "track": null,
+    "type": "RMC",
+    "valid": true,
+    "variation": null
+  },
+  "$GNGSA,A,3,25,29,31,26,16,21,,,,,,,1.55,0.84,1.30,1*00": {
+    "fix": "3D",
+    "hdop": 0.84,
+    "mode": "automatic",
+    "systemId": 1,
+    "pdop": 1.55,
+    "raw": "$GNGSA,A,3,25,29,31,26,16,21,,,,,,,1.55,0.84,1.30,1*00",
+    "satellites": [
+      25,
+      29,
+      31,
+      26,
+      16,
+      21
+    ],
+    "type": "GSA",
+    "valid": true,
+    "vdop": 1.3
+  },
+  '$GPRMC,085542.023,V,,,,,,,041211,,,N*45': {
+    "faa": "not valid",
+    "lat": null,
+    "lon": null,
+    "navStatus": null,
+    "raw": "$GPRMC,085542.023,V,,,,,,,041211,,,N*45",
+    "speed": null,
+    "status": "void",
+    "time": new Date('2011-12-04T08:55:42.023Z'),
+    "track": null,
+    "type": "RMC",
+    "valid": true,
+    "variation": null
+  },
+  '$GPGGA,100313.99,3344.459045,N,09639.616711,W,1,05,0.0,220.9,M,0.0,M,0.0,0000*66': {
+    "age": 0,
+    "alt": 220.9,
+    "geoidal": 0,
+    "hdop": 0,
+    "lat": 33.74098408333333,
+    "lon": -96.66027851666666,
+    "quality": "fix",
+    "raw": "$GPGGA,100313.99,3344.459045,N,09639.616711,W,1,05,0.0,220.9,M,0.0,M,0.0,0000*66",
+    "satellites": 5,
+    "stationID": 0,
+    "time": new Date(today + 'T10:03:13.990Z'),
+    "type": "GGA",
+    "valid": true
+  },
+  '$GNGRS,112423.00,1,-0.1,-0.4,5.6,-4.3,1.4,-0.2,,,,,,,1,1*51': {
+    "mode": 1,
+    "raw": "$GNGRS,112423.00,1,-0.1,-0.4,5.6,-4.3,1.4,-0.2,,,,,,,1,1*51",
+    "res": [
+      -0.1,
+      -0.4,
+      5.6,
+      -4.3,
+      1.4,
+      -0.2
+    ],
+    "time": new Date(today + 'T11:24:23.000Z'),
+    "type": "GRS",
+    "valid": true
+  },
+  '$GNGRS,112423.00,1,0.0,0.0,0.0,-6.4,-1.2,,,,,,,,1,6*7F': {
+    "mode": 1,
+    "raw": "$GNGRS,112423.00,1,0.0,0.0,0.0,-6.4,-1.2,,,,,,,,1,6*7F",
+    "res": [
+      0,
+      0,
+      0,
+      -6.4,
+      -1.2
+    ],
+    "time": new Date(today + 'T11:24:23.000Z'),
+    "type": "GRS",
+    "valid": true
+  },
+  '$GNGRS,112423.00,1,-2.5,0.8,0.2,7.2,6.2,,,,,,,,2,1*5B': {
+    "mode": 1,
+    "raw": "$GNGRS,112423.00,1,-2.5,0.8,0.2,7.2,6.2,,,,,,,,2,1*5B",
+    "res": [
+      -2.5,
+      0.8,
+      0.2,
+      7.2,
+      6.2
+    ],
+    "time": new Date(today + 'T11:24:23.000Z'),
+    "type": "GRS",
+    "valid": true
+  },
+  '$GNGBS,112424.00,2.5,1.5,5.4,,,,,,*5D': {
+    "raw": "$GNGBS,112424.00,2.5,1.5,5.4,,,,,,*5D",
+    "type": "GBS",
+    "time": new Date(today + 'T11:24:24.000Z'),
+    "errLat": 2.5,
+    "errLon": 1.5,
+    "errAlt": 5.4,
+    "failedSat": null,
+    "probFailedSat": null,
+    "biasFailedSat": null,
+    "stdFailedSat": null,
+    "valid": true,
+    "systemId": null,
+    "signalId": null
+  },
+  '$GPGBS,015509.00,-0.031,-0.186,0.219,19,0.000,-0.354,6.972*4D': {
+    "raw": "$GPGBS,015509.00,-0.031,-0.186,0.219,19,0.000,-0.354,6.972*4D",
+    "type": "GBS",
+    "time": new Date(today + 'T01:55:09.000Z'),
+    "errLat": -0.031,
+    "errLon": -0.186,
+    "errAlt": 0.219,
+    "failedSat": 19,
+    "probFailedSat": 0,
+    "biasFailedSat": -0.354,
+    "stdFailedSat": 6.972,
+    "valid": true,
+    "systemId": null,
+    "signalId": null
+  },
+  '$GNGSA,A,3,24,12,19,15,,,,,,,,,5.27,3.57,3.87,1*05': {
+    "fix": "3D",
+    "hdop": 3.57,
+    "mode": "automatic",
+    "pdop": 5.27,
+    "raw": "$GNGSA,A,3,24,12,19,15,,,,,,,,,5.27,3.57,3.87,1*05",
+    "satellites": [
+      24,
+      12,
+      19,
+      15
+    ],
+    "systemId": 1,
+    "type": "GSA",
+    "valid": true,
+    "vdop": 3.87
+  },
+  '$GNGNS,133216.00,4843.01093,N,00227.78866,E,ANNN,04,3.57,55.4,46.3,,,V*29': {
+    "raw": "$GNGNS,133216.00,4843.01093,N,00227.78866,E,ANNN,04,3.57,55.4,46.3,,,V*29",
+    "type": "GNS",
+    "time": new Date(today + 'T13:32:16.000Z'),
+    "valid": true,
+    "alt": 55.4,
+    "diffAge": null,
+    "diffStation": null,
+    "hdop": 3.57,
+    "lat": 48.71684883333333,
+    "lon": 2.463144333333333,
+    "mode": "ANNN",
+    "navStatus": "V",
+    "satsUsed": 4,
+    "sep": 46.3
+  },
+  '$GPGLL,5000.05254,N,04500.02356,E,090037.059,A*35': {
+    'faa': null,
+    "lat": 50.000875666666666,
+    "lon": 45.00039266666667,
+    "raw": "$GPGLL,5000.05254,N,04500.02356,E,090037.059,A*35",
+    "status": "active",
+    "type": "GLL",
+    "valid": true,
+    "time": new Date(today + 'T09:00:37.059Z'),
   }
@@ -742,7 +930,5 @@ };
  '$GPGSV,3,3,12,30,11,308,,16,,333,,12,,191,,07,-4,033,*62',
- '$GPRMC,085542.023,V,,,,,,,041211,,,N*45',
  '$GPGGA,085543.023,,,,,0,00,,,M,0.0,M,,0000*58',
  '$IIBWC,160947,6008.160,N,02454.290,E,162.4,T,154.3,M,001.050,N,DEST*1C',
  '$IIAPB,A,A,0.001,L,N,V,V,154.3,M,DEST,154.3,M,154.2,M*19'
- $GPGGA,100313.99,3344.459045,N,09639.616711,W,1,05,0.0,220.9,M,0.0,M,0.0,0000*66
  $GPGGA,092750.000,5321.6802,N,00630.3372,W,1,8,1.03,61.7,M,55.2,M,,*76
@@ -749,0 +935,0 @@ $GPGGA,181650.692,7204.589,N,01915.106,W,0,00,,,M,,M,,*59

tests/partial.js

@@ -16,2 +16,3 @@
     'faa': null,
+    "navStatus": null,
     'valid': true,
@@ -47,2 +48,3 @@ 'variation': null
         done();
+        return;
       }
@@ -49,0 +51,0 @@ });

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Found 1 instance in 1 package

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Improved metrics

Total package byte prevSize

386061

increased by3.02%

Lines of code

2266

increased by14.91%

Worsened metrics

Dev dependency count

9

increased by28.57%

No dependency changes