@coremarine/norsub-emru v2.0.0

Norsub eMRU Parser

Library to read NMEA-like sentences of Norsub eMRU devices. It works same as NMEA-Parser library and it has the same API. The only nuance is it gives metadata of the device status if the sentence bring that info.

To understand how it works, please look the info of NMEA-Parser library.

PNORSUBx sentences contains status property in the metada as

type Status = {
  main: {
    ok: boolean,
    health: boolean,
  },
  system: {
    ok: boolean,
    health: boolean,
    synchronized: {
      time: boolean,
      clock: boolean,
    },
    cpu: boolean,
  },
  sensor: {
    ok: boolean,
    health: boolean,
    limits: boolean,
    environmental: {
      vibration: boolean,
      temperature: boolean,
    }
  },
  algorithms: {
    ok: boolean,
    health: boolean,
    initialization: {
      observer: boolean,
      heading: boolean
    },
    roll_pitch: {
      ok: boolean,
      health: boolean,
    },
    heading: {
      ok: boolean,
      health: boolean,
    },
    surge_sway: {
      ok: boolean,
      health: boolean,
    },
    heave: {
      ok: boolean,
      health: boolean,
    },
  },
  aiding: {
    received: {
      position: boolean,
      velocity: boolean,
      heading: boolean,
    },
    valid: {
      position: boolean,
      velocity: boolean,
      heading: boolean,
      vertical: boolean,
      horizontal: boolean,
    }
  }
}

The complete output with metadata it is shown below.

type NMEASentence = {
  // Sentence ID
  id: string,
  // Array with ordered fields and their metadata
  payload: Array<{
    name: string,
    value: string | number | bigint | boolean | null,
    type: 'string' | 'boolean' | 'uint8' | 'uint16' | 'uint32' | 'uint64' | 'int8' | 'int16' | 'int32' | 'int64' | 'float32' | 'float64' | 'unknown',
    units?: string,
    description?: string,
    metadata?: any
  }>,
  // Metadata which can be computed fields from payload fields
  metadata?: any,
  // Protocol information
  protocol: {
    name: string,
    standard: boolean,
    version: string,
  },
  // UTC timestamp when the sentence was parsed
  received: number,
  // Whole ASCII string sentence
  sample: string,
  // Sentence checksum
  checksum: {
    sample: string,
    value: number
  }
  // Sentence talker
  talker?: {
    value: string,
    description: string
  }
}