import abc
import datetime
import functools
import json
import math
import typing
from typing import Any, Dict, Optional, Sequence, Union

import attr
from bitarray import bitarray

from pyais.constants import (
    AtoNDimensionType,
    AtoNRestrictedUseInidicator,
    AtoNSationType,
    TalkerID,
    NavigationStatus,
    ManeuverIndicator,
    EpfdType,
    ShipType,
    NavAid,
    StationType,
    TransmitMode,
    StationIntervals,
    TurnRate,
    InlandLoadedType
)
from pyais.exceptions import (
    InvalidNMEAMessageException,
    TagBlockNotInitializedException,
    UnknownMessageException,
    UnknownPartNoException,
    InvalidDataTypeException,
    MissingPayloadException
)
from pyais.util import (
    ParsedDimensions,
    checksum,
    decode_into_bit_array,
    compute_checksum,
    get_itdma_comm_state,
    get_sotdma_comm_state,
    int_to_bin,
    parse_dimensions,
    str_to_bin,
    encode_ascii_6,
    from_bytes,
    from_bytes_signed,
    decode_bin_as_ascii6,
    get_int,
    chk_to_int,
    coerce_val,
    bits2bytes,
    bytes2bits,
    b64encode_str,
    is_auxiliary_craft
)

NMEA_VALUE = typing.Union[str, float, int, bool, bytes]

B_EXCLAMATION_MARK = b"!"
B_DOLLAR_SIGN = b"$"
ASTERISK = b"*"
COMMA = b","
B_VDM = b"VDM"
B_VDO = b"VDO"
B_GH = b"HP"
TAG_BLOCK_START = b'\\'
MAX_FRAG_CNT = 100
MAX_PAYLOAD_LEN = 200


def bit_field(
    width: int, d_type: typing.Type[typing.Any],
    from_converter: typing.Optional[typing.Callable[[typing.Any], typing.Any]] = None,
    to_converter: typing.Optional[typing.Callable[[typing.Any], typing.Any]] = None,
    default: typing.Optional[typing.Any] = None,
    signed: bool = False,
    variable_length: bool = False,
    is_spare: bool = False,
    **kwargs: typing.Any
) -> typing.Any:
    """
    Simple wrapper around the attr.ib interface to be used in conjunction with the Payload class.

    @param width:               The bit-width of the field.
    @param d_type:              The datatype of the field used while decoding
    @param from_converter:      Optional converter function called **before** encoding
    @param to_converter:        Optional converter function called **after** decoding
    @param default:             Optional default value to be used when no value is explicitly passed.
    @param signed:              Set to true if the value is a signed integer
    @param variable_length:     Set to true, if the field can be shorter than width (e.g. for binary data/text)
    @return:                    An attr.ib field instance.
    """
    return attr.ib(
        metadata={
            'width': width,
            'd_type': d_type,
            'from_converter': from_converter,
            'to_converter': to_converter,
            'signed': signed,
            'default': default,
            'variable_length': variable_length,
            'is_spare': is_spare,
        },
        **kwargs
    )


ENUM_FIELDS = {'status', 'maneuver', 'epfd', 'ship_type', 'aid_type', 'station_type', 'txrx', 'interval'}


class AISJSONEncoder(json.JSONEncoder):
    """Custom JSON encoder to handle bytes objects"""

    def default(self, o: typing.Any) -> typing.Any:
        if isinstance(o, bytes):
            return b64encode_str(o)
        return json.JSONEncoder.default(self, o)


class NMEASentenceFactory:
    """
    NMEA sentence factory.
    There are tons of different NMEA sentences.
    In order to correctly parse each sentence, this factory looks at the structure of the sentence.
    The first comma-separated fields defines the type of NMEA sentence.

    NOTE: Only a very small subset of all NMEA sentences is currently supported!
    """

    @classmethod
    def _pre_process(
        cls, raw: bytes
    ) -> typing.Tuple[bytes, typing.Optional[bytes]]:
        """
        Preprocess the sentence.
        If the sentence has no tag block it is returned as is.
        Otherwise the tag block and NMEA sentence are separated
        Example with tag block:
        >>> NMEASentenceFactory._pre_process(b'\\s:2573535,c:1671533231*08\\!BSVDM,2,2,8,B,00000000000,2*36')
        (b'!BSVDM,2,2,8,B,00000000000,2*36', b's:2573535,c:1671533231*08')

        """
        raw = raw.strip()

        if raw[0] == ord(TAG_BLOCK_START):
            ix_start = 0
            ix_end = raw[1:].find(TAG_BLOCK_START) + 1
            tag_block = raw[ix_start + 1:ix_end]

            return raw[ix_end + 1:], tag_block

        return raw, None

    @classmethod
    def _produce(cls, raw: bytes) -> "NMEASentence":
        # Parse the first comma separated field
        fields = raw.split(COMMA)
        first_field = fields[0]
        delimiter = first_field[:1]
        type_code = first_field[3:]
        type_code = type_code.upper()

        if type_code == B_VDM or type_code == B_VDO:
            return AISSentence(raw)
        if delimiter == B_DOLLAR_SIGN:
            if type_code == B_GH:
                return GatehouseSentence(raw)

        raise UnknownMessageException(raw)

    @classmethod
    def produce(cls, raw: bytes) -> "NMEASentence":
        """Parse a single bytes string into an NMEA sentence."""
        if not isinstance(raw, bytes):
            raise TypeError("message must be bytes")

        if len(raw) == 0:
            raise InvalidNMEAMessageException("empty bytes")

        raw_sentence, tb = cls._pre_process(raw)
        sentence = cls._produce(raw_sentence)
        if tb:

            sentence.tag_block = TagBlock(tb)
        return sentence


def error_if_uninitialized(func: typing.Callable[['TagBlock'], typing.Any]) -> typing.Callable[['TagBlock'], typing.Any]:
    @functools.wraps(func)
    def wrapper(tb: 'TagBlock') -> typing.Any:
        if not tb.initialized:
            raise TagBlockNotInitializedException(
                'tag block not initialized. you need to call .init() first'
            )
        return func(tb)
    return wrapper


class TagBlockGroup:
    """Tag Block Group represents the 3-int group sequence
    optionally included as part of the NMEA Tag Block

    it consists of 3, comma-seperated integers X-Y-Z where:
    - X = Message ID in sequence
    - Y = Total parts in group
    - Z = Unique GroupID for this group of messages."""

    __slots__ = (
        'sentence_num',
        'sentence_tot',
        'group_id'
    )

    def __init__(self, msg_id: int, total: int, group_id: int):
        self.sentence_num = msg_id
        self.sentence_tot = total
        self.group_id = group_id

    @staticmethod
    def from_str(raw: str) -> 'TagBlockGroup':
        """Constructs a new NMEAGroup from it's string representation"""
        [msg_id, msg_total, group_id] = raw.split("-", 3)

        return TagBlockGroup(
            int(msg_id),
            int(msg_total),
            int(group_id)
        )

    @property
    def is_fragmented(self) -> bool:
        """Returns whether or not this group expects several parts."""
        return self.sentence_tot > 1

    def __str__(self) -> str:
        """Returns this NMEA group instance in it's string representation."""
        return f"{self.sentence_num}-{self.sentence_tot}-{self.group_id}"

    def __eq__(self, other: object) -> bool:
        if isinstance(other, TagBlockGroup):
            return self.sentence_num == other.sentence_num and self.sentence_tot == other.sentence_tot and self.group_id == other.group_id
        return False


class TagBlock:
    # Field code mapping for encoding/decoding
    FIELD_CODES = {
        'receiver_timestamp': 'c',
        'destination_station': 'd',
        'line_count': 'n',
        'relative_time': 'r',
        'source_station': 's',
        'text': 't',
        'group': 'g',
    }

    # Reverse mapping for decoding
    FIELD_NAMES = {code: name for name, code in FIELD_CODES.items()}

    __slots__ = (
        'raw',
        'initialized',
        '_is_valid',
        '_actual_checksum',
        '_expected_checksum',
        '_receiver_timestamp',
        '_source_station',
        '_destination_station',
        '_line_count',
        '_relative_time',
        '_text',
        '_group'
    )

    def __init__(self, raw: bytes) -> None:
        self.raw = raw
        self.initialized = False
        self._is_valid = False
        self._actual_checksum = -1
        self._expected_checksum = -1
        self._receiver_timestamp = None
        self._destination_station = None
        self._line_count = None
        self._source_station = None
        self._relative_time = None
        self._text = None
        self._group: Optional[TagBlockGroup] = None

    @property
    @error_if_uninitialized
    def receiver_timestamp(self) -> typing.Optional[str]:
        return self._receiver_timestamp

    @property
    @error_if_uninitialized
    def destination_station(self) -> typing.Optional[str]:
        return self._destination_station

    @property
    @error_if_uninitialized
    def line_count(self) -> typing.Optional[str]:
        return self._line_count

    @property
    @error_if_uninitialized
    def source_station(self) -> typing.Optional[str]:
        return self._source_station

    @property
    @error_if_uninitialized
    def relative_time(self) -> typing.Optional[str]:
        return self._relative_time

    @property
    @error_if_uninitialized
    def text(self) -> typing.Optional[str]:
        return self._text

    @property
    @error_if_uninitialized
    def is_valid(self) -> bool:
        return self._is_valid

    @property
    @error_if_uninitialized
    def actual_checksum(self) -> int:
        return self._actual_checksum

    @property
    @error_if_uninitialized
    def expected_checksum(self) -> int:
        return self._expected_checksum

    @property
    @error_if_uninitialized
    def group(self) -> typing.Optional[TagBlockGroup]:
        return self._group

    def init(self) -> None:
        """Initialize the TagBlock by parsing the raw data."""
        payload, check = self.raw.split(ASTERISK)

        self._actual_checksum = checksum(payload)
        self._expected_checksum = int(check.decode(), 16)
        self._is_valid = self._actual_checksum == self._expected_checksum

        self._parse_payload(payload)
        self.initialized = True

    def _parse_payload(self, payload: bytes) -> None:
        """Parse the payload bytes into fields."""
        fields = payload.split(COMMA)
        for field in fields:
            try:
                field_str = field.decode()
                spec, val = field_str.split(':', 1)

                if spec == 'g':
                    self._group = TagBlockGroup.from_str(val)
                elif spec in self.FIELD_NAMES:
                    # Set attribute directly using field name
                    attr_name = f"_{self.FIELD_NAMES[spec]}"
                    setattr(self, attr_name, val)
            except (ValueError, UnicodeDecodeError):
                # Skip malformed fields
                continue

    @classmethod
    def create(cls, **fields: Dict[str, object]) -> bytes:
        """Create a TagBlock from field values.
        Unknown fields are ignored. Refer to TagBlock.FIELD_NAMES for supported fields.

        >>> TagBlock.create(source_station="STATION1", text="Hello")
        b's:STATION1,t:Hello*2'
        """
        pairs = []
        for key, val in fields.items():
            if val is not None and key in cls.FIELD_CODES:
                field_code = cls.FIELD_CODES[key]
                pairs.append(f"{field_code}:{val}".encode())

        payload = COMMA.join(pairs)

        # compute checksum as hex, e.g. *7E
        csum = hex(checksum(payload))[2:].upper().encode()
        return payload + ASTERISK + csum

    @classmethod
    def create_str(cls, **fields: Dict[str, object]) -> str:
        """The same as .create() but returns a string"""
        return cls.create(**fields).decode()

    def __repr__(self) -> str:
        if not self.initialized:
            return "TagBlock<uninitialized>"
        return f"TagBlock<{self.raw.decode()}>"

    @error_if_uninitialized
    def asdict(self) -> typing.Dict[str, typing.Any]:
        """Return a dictionary representation of the TagBlock."""
        return {
            'raw': self.raw,
            'receiver_timestamp': self.receiver_timestamp,
            'source_station': self.source_station,
            'destination_station': self.destination_station,
            'line_count': self.line_count,
            'relative_time': self.relative_time,
            'text': self.text,
        }

    def to_raw(self) -> bytes:
        """Convert a tag block to raw bytes"""
        fields = []
        if self._group is not None:
            fields.append(f"g:{self._group}")
        if self._source_station is not None:
            fields.append(f"s:{self._source_station}")
        if self._receiver_timestamp is not None:
            fields.append(f"c:{self._receiver_timestamp}")
        if self._destination_station is not None:
            fields.append(f"d:{self._destination_station}")
        if self._line_count is not None:
            fields.append(f"n:{self._line_count}")
        if self._relative_time is not None:
            fields.append(f"r:{self._relative_time}")
        if self._text is not None:
            fields.append(f"t:{self._text}")

        if not fields:
            raise ValueError('can not convert empty tag block to bytes (forgot to call .init()?)')

        payload_str = ','.join(fields)
        payload = payload_str.encode()

        chk_int = checksum(payload)
        chk = f"{chk_int:02X}".encode()

        return payload + ASTERISK + chk


class NMEASentence(object):
    """
    Single NMEA Sentence.
    An NMEA sentence consists of a start delimiter, followed by a comma-separated
    sequence of fields, followed by the character '*', the checksum and
    an end-of-line marker.
    """
    __slots__ = (
        'raw',
        'delimiter',
        'data_fields',
        'talker_id',
        'type',
        'checksum',
        'fill_bits',
        'is_valid',
        'wrapper_msg',
        'tag_block',
    )

    TYPE = "UNDEFINED"

    def __init__(self, raw: bytes) -> None:
        if not isinstance(raw, bytes):
            raise ValueError(f"'NMEAMessage' only accepts bytes, but got '{type(raw)}'")

        # Initial values
        self.checksum: int = -1

        # Store raw data
        self.raw: bytes = raw

        # A NMEA message consists of comma separated parts
        fields = raw.split(b",")

        # The first field of a sentence is called the "tag" and normally consists
        # of a two-letter talker ID followed by a three-letter type code.
        first_field = fields[0]
        self.delimiter = first_field[:1]
        self.talker_id = first_field[1:3].decode('ascii')
        self.type = first_field[3:].decode('ascii')

        checksum = fields[-1]
        fill, check = chk_to_int(checksum)
        # Fill bits (0 to 5)
        self.fill_bits: int = fill
        # Message Checksum (hex value)
        self.checksum = check
        # Set the checksum valid field
        self.is_valid = self.checksum == compute_checksum(self.raw)

        self.data_fields = fields[1:-1]

        # Some NMEA messages contain meta data for other messages
        # E.G PGHP messages (Gatehousing)
        self.wrapper_msg: typing.Optional['GatehouseSentence'] = None

        # Some NMEA messages may contain a leading tag block
        # NOTE:     I couldn't find any good documentation for these fields.
        #           Therefore, TagBlocks are lazily evaluated (need to call tag_block.init() first)
        self.tag_block: typing.Optional['TagBlock'] = None

    def __str__(self) -> str:
        return repr(self)

    def __repr__(self) -> str:
        return f"{self.__class__.__name__}<{self.raw.decode('ascii')}>"

    def __getitem__(self, item: str) -> Union[int, str, bytes, bitarray]:
        if isinstance(item, str):
            try:
                return getattr(self, item)  # type: ignore
            except AttributeError:
                raise KeyError(item)
        else:
            raise TypeError(f"Index must be str, not {type(item).__name__}")

    def __eq__(self, other: object) -> bool:
        return all([getattr(self, attr) == getattr(other, attr) for attr in self.__slots__])

    def __hash__(self) -> int:
        return hash(self.raw)

    @property
    def talker(self) -> TalkerID:
        return TalkerID(self.talker_id)


class GatehouseSentence(NMEASentence):
    TYPE = 'HP'

    _slots__ = (
        'country',
        'region',
        'pss',
        'online_data',
        'timestamp',
    )

    def __init__(self, raw: bytes) -> None:
        super().__init__(raw)

        fields = self.data_fields
        try:
            [year, month, day, hour, minute, second, millisecond] = fields[1:8]
            t = datetime.datetime(
                year=int(year),
                month=int(month),
                day=int(day),
                hour=int(hour),
                minute=int(minute),
                second=int(second),
                microsecond=int(millisecond) * 1000
            )
            # MMSI country code where the message originates from
            self.country = fields[8].decode('ascii')
            # The MMSI number of the region
            self.region = fields[9].decode('ascii')
            # MMSI number of the site transponder
            self.pss = fields[10].decode('ascii')
            # buffered data from a BSC will be designated with 0, online data with 1
            self.online_data = int(fields[11])
        except Exception as err:
            raise InvalidNMEAMessageException(raw) from err

        self.timestamp = t


class AISSentence(NMEASentence):
    TYPE = 'AIS'

    __slots__ = (
        'ais_id',
        'frag_cnt',
        'frag_num',
        'seq_id',
        'payload',
        'bit_array',
        'ais_id',
        'channel',
    )

    def __init__(self, raw: bytes) -> None:
        super().__init__(raw)

        try:
            # Unpack NMEA message parts
            (
                message_fragments,
                fragment_number,
                message_id,
                channel,
                payload,
            ) = self.data_fields[:5]

            # Total number of fragments
            self.frag_cnt: int = int(message_fragments)
            # Current fragment index
            self.frag_num: int = int(fragment_number)
            # Optional message index for multiline messages
            self.seq_id: Optional[int] = int(message_id) if message_id else None
            # Channel (A or B)
            self.channel: str = channel.decode('ascii')
            # Decoded message payload as byte string
            self.payload: bytes = payload

        except Exception as err:
            raise InvalidNMEAMessageException(raw) from err

        if len(payload) > MAX_PAYLOAD_LEN:
            raise InvalidNMEAMessageException("AIS payload too large")

        if self.frag_cnt > MAX_FRAG_CNT or self.frag_num > MAX_FRAG_CNT:
            raise InvalidNMEAMessageException("Too many fragments")

        # Finally decode bytes into bits
        self.bit_array: bitarray = decode_into_bit_array(self.payload, self.fill_bits)
        self.ais_id: int = get_int(self.bit_array, 0, 6)

    def asdict(self) -> Dict[str, Any]:
        """
        Convert the class to dict.
        @return: A dictionary that holds all fields, defined in __slots__
        """
        return {
            'ais_id': self.ais_id,  # int
            'raw': self.raw.decode('ascii'),  # str
            'talker': self.talker.value,  # str
            'type': self.type,  # str
            'frag_cnt': self.frag_cnt,  # int
            'frag_num': self.frag_num,  # int
            'seq_id': self.seq_id,  # None or int
            'channel': self.channel,  # str
            'payload': self.payload.decode('ascii'),  # str
            'fill_bits': self.fill_bits,  # int
            'checksum': self.checksum,  # int
            'bit_array': self.bit_array.to01(),  # str
            'is_valid': self.is_valid,  # bool
        }

    def decode_and_merge(self, enum_as_int: bool = False) -> Dict[str, Any]:
        """
        Decodes the message and returns the result as a dict together with all attributes of
        the original NMEA message.
        @param enum_as_int: Set to True to treat IntEnums as pure integers
        @return: A dictionary that holds all fields, defined in __slots__ + the decoded msg
        """
        rlt = self.asdict()
        del rlt['bit_array']
        decoded = self.decode()
        rlt.update(decoded.asdict(enum_as_int))
        return rlt

    @classmethod
    def from_string(cls, nmea_str: str) -> "NMEAMessage":
        return cls(nmea_str.encode('utf-8'))

    @classmethod
    def from_bytes(cls, nmea_byte_str: bytes) -> "NMEAMessage":
        return cls(nmea_byte_str)

    @classmethod
    def assemble_from_iterable(cls, messages: Sequence["AISSentence"]) -> "AISSentence":
        """
        Assemble a multiline message from a sequence of NMEA messages.
        :param messages: Sequence of NMEA messages
        :return: Single message
        """
        raw = b''
        data = b''
        bit_array = bitarray()
        is_valid = True

        for i, msg in enumerate(sorted(messages, key=lambda m: m.frag_num)):
            if i > 0:
                raw += b'\n'
            raw += msg.raw
            data += msg.payload
            bit_array += msg.bit_array
            is_valid &= msg.is_valid

        messages[0].raw = raw
        messages[0].payload = data
        messages[0].bit_array = bit_array
        messages[0].is_valid = is_valid
        return messages[0]

    @property
    def is_single(self) -> bool:
        return not self.seq_id and self.frag_num == self.frag_cnt == 1

    @property
    def is_multi(self) -> bool:
        return not self.is_single

    @property
    def fragment_count(self) -> int:
        return self.frag_cnt

    def decode(self) -> "ANY_MESSAGE":
        """
        Decode the AIS message.
        @return: The decoded message class as a superclass of `Payload`.

        >>> nmea = NMEAMessage(b"!AIVDO,1,1,,,B>qc:003wk?8mP=18D3Q3wgTiT;T,0*13").decode()
        MessageType18(msg_type=18, ...)
        """
        if not self.payload:
            raise MissingPayloadException(self.raw.decode())
        try:
            return MSG_CLASS[self.ais_id].from_bitarray(self.bit_array)
        except KeyError as e:
            raise UnknownMessageException(f"The message {self} is not supported!") from e


@attr.s(slots=True)
class Payload(abc.ABC):
    """
    Payload class
    --------------
    This class serves as an abstract base class for all messages.
    Each message shall inherit from Payload and define it's set of field using the `bit_field` method.
    """

    @staticmethod
    def __force_type(field: typing.Any, val: typing.Any) -> typing.Any:
        """
        Force a value into a specific type for a given bitfield.

        Note:   This method is meant to be used with `bit_fields` only.
        """
        if val is None:
            return val

        d_type = field.metadata['d_type']

        if isinstance(val, d_type):
            # The value is already of the correct type -> nothing to do
            return val

        try:
            coerced_val = coerce_val(val, d_type)
        except ValueError as err:
            raise ValueError(f"Could not coerce value for field '{field.name}'") from err

        return coerced_val

    @classmethod
    def fields(cls) -> typing.Tuple[typing.Any]:
        """
        A list of all fields that were added to this class using attrs.
        """
        return attr.fields(cls)  # type:ignore

    @classmethod
    @functools.lru_cache(maxsize=64)
    def field_dict(cls) -> typing.Dict[str, typing.Any]:
        """
        A dictionary of <field.name: field> key value pairs.
        LRU cached for fast repeated access.
        """
        return {field.name: field for field in cls.fields()}

    def to_bitarray(self) -> bitarray:
        """
        Convert all attributes of a given Payload/Message to binary.
        """
        out = bitarray()
        for field in self.fields():
            width = field.metadata['width']
            d_type = field.metadata['d_type']
            converter = field.metadata['from_converter']
            signed = field.metadata['signed']
            variable_length = field.metadata['variable_length']

            val = getattr(self, field.name)
            if val is None:
                continue

            val = converter(val) if converter is not None else val

            if d_type in (bool, int):
                bits = int_to_bin(val, width, signed=signed)
            elif d_type == float:
                val = int(val)
                bits = int_to_bin(val, width, signed=signed)
            elif d_type == str:
                trailing_spaces = not variable_length
                bits = str_to_bin(val, width, trailing_spaces=trailing_spaces)
            elif d_type == bytes:
                bits = bytes2bits(val, default=bitarray('0' * width))
            else:
                raise InvalidDataTypeException(d_type)

            bits = bits[:width]
            out += bits

        return out

    def encode(self) -> typing.Tuple[str, int]:
        """
        Encode a payload as an ASCII encoded bit vector. The second returned value is the number of fill bits.
        """
        bit_arr = self.to_bitarray()
        return encode_ascii_6(bit_arr)

    @classmethod
    def create(cls, **kwargs: NMEA_VALUE) -> "ANY_MESSAGE":
        """
        Create a new instance of each Payload class.
        @param kwargs: A set of keywords. For each field of `cls` a keyword with the same
                       name is searched.If no matching keyword argument was provided the
                       default value will be used - if one is available.
        @return:
        """
        args = {}

        # Iterate over each field of the payload class and check for a matching keyword argument.
        # If no matching kwarg was provided use a default value
        for field in cls.fields():
            key = field.name
            try:
                val = cls.__force_type(field, kwargs[key])
                args[key] = val
            except KeyError:
                # Check if a default value was provided
                default = field.metadata['default']
                if default is not None:
                    args[key] = default
        return cls(**args)  # type:ignore

    @classmethod
    def from_bitarray(cls, bit_arr: bitarray) -> "ANY_MESSAGE":
        cur: int = 0
        end: int = 0
        length: int = len(bit_arr)
        kwargs: typing.Dict[str, typing.Any] = {}

        # Iterate over the bits until the last bit of the bitarray or all fields are fully decoded
        for field in cls.fields():

            if end >= length:
                # All fields that did not fit into the bit array are None
                kwargs[field.name] = None
                continue

            width = field.metadata['width']
            d_type = field.metadata['d_type']
            converter = field.metadata['to_converter']

            end = min(length, cur + width)
            bits = bit_arr[cur: end]

            val: typing.Any
            # Get the correct data type and decoding function
            if d_type == int or d_type == bool or d_type == float:
                shift = (8 - ((end - cur) % 8)) % 8
                if field.metadata['signed']:
                    val = from_bytes_signed(bits) >> shift
                else:
                    val = from_bytes(bits) >> shift

                if d_type == float:
                    val = float(val)
                elif d_type == bool:
                    val = bool(val)

            elif d_type == str:
                val = decode_bin_as_ascii6(bits)
            elif d_type == bytes:
                val = bits2bytes(bits)
            else:
                raise InvalidDataTypeException(d_type)

            val = converter(val) if converter is not None else val
            kwargs[field.name] = val
            cur = end

        return cls(**kwargs)  # type:ignore

    def asdict(self, enum_as_int: bool = False, ignore_spare: bool = True) -> typing.Dict[str, typing.Optional[NMEA_VALUE]]:
        """
        Convert the message to a dictionary.
        @param enum_as_int:     If set to True all Enum values will be returned as raw ints.
        @param ignore_spare:    Ignore spare fields (default is True)
        @return:                The message as a dictionary.
        """
        data: typing.Dict[str, typing.Optional[NMEA_VALUE]] = {}
        fields = self.field_dict()
        slt: str
        for slt in self.__slots__:
            # ignore spare fields
            if ignore_spare and slt in fields:
                field = fields[slt]
                if 'is_spare' in field.metadata and field.metadata['is_spare']:
                    continue

            val = getattr(self, slt)

            # convert enums to int
            if enum_as_int:
                if val is not None and slt in ENUM_FIELDS:
                    val = int(getattr(self, slt))

            data[slt] = val
        return data

    def to_json(self, ignore_spare: bool = True) -> str:
        return AISJSONEncoder(indent=4).encode(self.asdict())


#
# Conversion functions
#

def from_speed(v: typing.Union[int, float]) -> float:
    return v * 10.0


def to_speed(v: typing.Union[int, float]) -> float:
    return v / 10.0


def from_lat_lon(v: typing.Union[int, float]) -> float:
    return round(float(v) * 600000.0)


def to_lat_lon(v: typing.Union[int, float]) -> float:
    return round(float(v) / 600000.0, 6)


def from_lat_lon_600(v: typing.Union[int, float]) -> float:
    return round(float(v) * 600.0)


def to_lat_lon_600(v: typing.Union[int, float]) -> float:
    return round(float(v) / 600.0, 6)


def from_10th(v: typing.Union[int, float]) -> float:
    return float(v) * 10.0


def to_10th(v: typing.Union[int, float]) -> float:
    return v / 10.0


def from_100th(v: typing.Union[int, float]) -> float:
    return float(v) * 100.0


def to_100th(v: typing.Union[int, float]) -> float:
    return v / 100.0


def from_mmsi(v: typing.Union[str, int]) -> int:
    return int(v)


def to_turn(turn: typing.Union[int, float]) -> typing.Union[float, TurnRate]:
    if not turn:
        return 0.0
    elif abs(turn) == 127:
        return TurnRate(turn)
    elif abs(turn) == 128:
        return TurnRate.NO_TI_DEFAULT

    return math.copysign(round((turn / 4.733) ** 2), turn)


def from_turn(turn: typing.Optional[typing.Union[int, float, TurnRate]]) -> int:
    if not turn:
        return 0
    elif abs(turn) == 127 or abs(turn) == 128:
        return int(turn)

    return int(math.copysign(round(4.733 * math.sqrt(abs(turn))), turn))


class CommunicationStateMixin:
    """
    Mixin class to access Communication State values by applicable messages.

    You may refer to 3.3.7.2.1 of:
    https://www.itu.int/dms_pubrec/itu-r/rec/m/R-REC-M.1371-1-200108-S!!PDF-E.pdf
    """

    msg_type: int  # Type hint to make mypy happy
    radio: int  # Type hint to make mypy happy

    MAX_COMM_STATE_VALUE = 0x7ffff

    SOTDMA_TYPES = (1, 2, 4, 11)
    SOTDMA_ITDMA_TYPES = (9, 18, 26)

    def get_communication_state(self) -> Dict[str, typing.Optional[int]]:
        """Returns information used by the slot allocation algorithm as a dict."""
        result: Dict[str, typing.Optional[int]] = {
            'received_stations': None,
            'slot_number': None,
            'utc_hour': None,
            'utc_minute': None,
            'slot_offset': None,
            'slot_timeout': None,
            'sync_state': None,
            'keep_flag': None,
            'slot_increment': None,
            'num_slots': None,
        }

        if self.is_sotdma:
            result.update(get_sotdma_comm_state(self.communication_state_raw))
        else:
            result.update(get_itdma_comm_state(self.communication_state_raw))

        return result

    @property
    def is_sotdma(self) -> bool:
        """Messages of type 1, 2, 4, 11 use SOTDMA or 9, 18, 26 if 20th bit is set."""
        if self.msg_type in self.SOTDMA_TYPES:
            return True
        if self.msg_type in self.SOTDMA_ITDMA_TYPES:
            return self.radio <= self.MAX_COMM_STATE_VALUE
        return False

    @property
    def is_itdma(self) -> bool:
        """Messages of type 3 use ITDMA or 9, 18, 26 if 20th bit is set."""
        if self.msg_type == 3:
            return True
        if self.msg_type in self.SOTDMA_ITDMA_TYPES:
            return self.radio > self.MAX_COMM_STATE_VALUE
        return False

    @property
    def communication_state_raw(self) -> int:
        """Get the raw radio status except 20th bit - if present"""
        try:
            return self.radio & self.MAX_COMM_STATE_VALUE
        except AttributeError as err:
            raise ValueError(
                'Communication State is only available for messages with radio field'
            ) from err


@attr.s(slots=True)
class MessageType1(Payload, CommunicationStateMixin):
    """
    AIS Vessel position report using SOTDMA (Self-Organizing Time Division Multiple Access)
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_types_1_2_and_3_position_report_class_a
    """
    msg_type = bit_field(6, int, default=1, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    status = bit_field(4, int, default=NavigationStatus.Undefined, converter=NavigationStatus.from_value, signed=False)
    turn = bit_field(8, float, default=TurnRate.NO_TI_DEFAULT, signed=True, to_converter=to_turn, from_converter=from_turn)
    speed = bit_field(10, float, from_converter=from_speed, to_converter=to_speed, default=0, signed=False)
    accuracy = bit_field(1, bool, default=0, signed=False)
    lon = bit_field(28, float, from_converter=from_lat_lon, to_converter=to_lat_lon, default=0, signed=True)
    lat = bit_field(27, float, from_converter=from_lat_lon, to_converter=to_lat_lon, default=0, signed=True)
    course = bit_field(12, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=False)
    heading = bit_field(9, int, default=0, signed=False)
    second = bit_field(6, int, default=0, signed=False)
    maneuver = bit_field(2, int, default=ManeuverIndicator.UNDEFINED, from_converter=ManeuverIndicator.from_value,
                         to_converter=ManeuverIndicator.from_value, signed=False)
    spare_1 = bit_field(3, bytes, default=b'', is_spare=True)
    raim = bit_field(1, bool, default=0)
    radio = bit_field(19, int, default=0, signed=False)


class MessageType2(MessageType1):
    """
    AIS Vessel position report using SOTDMA (Self-Organizing Time Division Multiple Access)
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_types_1_2_and_3_position_report_class_a
    """
    msg_type = bit_field(6, int, default=2)


class MessageType3(MessageType1):
    """
    AIS Vessel position report using ITDMA (Incremental Time Division Multiple Access)
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_types_1_2_and_3_position_report_class_a
    """
    msg_type = bit_field(6, int, default=3)


@attr.s(slots=True)
class MessageType4(Payload, CommunicationStateMixin):
    """
    AIS Vessel position report using SOTDMA (Self-Organizing Time Division Multiple Access)
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_4_base_station_report
    """
    msg_type = bit_field(6, int, default=4, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    year = bit_field(14, int, default=1970, signed=False)
    month = bit_field(4, int, default=1, signed=False)
    day = bit_field(5, int, default=1, signed=False)
    hour = bit_field(5, int, default=0, signed=False)
    minute = bit_field(6, int, default=0, signed=False)
    second = bit_field(6, int, default=0, signed=False)
    accuracy = bit_field(1, bool, default=0, signed=False)
    lon = bit_field(28, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    lat = bit_field(27, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    epfd = bit_field(4, int, default=EpfdType.Undefined, from_converter=EpfdType.from_value, to_converter=EpfdType.from_value,
                     signed=False)
    spare_1 = bit_field(10, bytes, default=b'', is_spare=True)
    raim = bit_field(1, bool, default=0)
    radio = bit_field(19, int, default=0, signed=False)


@attr.s(slots=True)
class MessageType5(Payload):
    """
    Static and Voyage Related Data
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_5_static_and_voyage_related_data
    """
    msg_type = bit_field(6, int, default=5, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    ais_version = bit_field(2, int, default=0, signed=False)
    imo = bit_field(30, int, default=0, signed=False)
    callsign = bit_field(42, str, default='')
    shipname = bit_field(120, str, default='')
    ship_type = bit_field(8, int, default=0, from_converter=ShipType.from_value, to_converter=ShipType.from_value)
    to_bow = bit_field(9, int, default=0, signed=False)
    to_stern = bit_field(9, int, default=0, signed=False)
    to_port = bit_field(6, int, default=0, signed=False)
    to_starboard = bit_field(6, int, default=0, signed=False)
    epfd = bit_field(4, int, default=EpfdType.Undefined, from_converter=EpfdType.from_value, to_converter=EpfdType.from_value)
    month = bit_field(4, int, default=0, signed=False)
    day = bit_field(5, int, default=0, signed=False)
    hour = bit_field(5, int, default=0, signed=False)
    minute = bit_field(6, int, default=0, signed=False)
    draught = bit_field(8, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=False)
    destination = bit_field(120, str, default='')
    dte = bit_field(1, bool, default=0, signed=False)
    spare_1 = bit_field(1, bytes, default=b'', is_spare=True)


@attr.s(slots=True)
class MessageType6(Payload):
    """
    Binary Addresses Message
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_6_binary_addressed_message
    """
    msg_type = bit_field(6, int, default=6)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    seqno = bit_field(2, int, default=0, signed=False)
    dest_mmsi = bit_field(30, int, from_converter=from_mmsi)
    retransmit = bit_field(1, bool, default=False, signed=False)
    spare_1 = bit_field(1, bytes, default=b'', is_spare=True)
    dac = bit_field(10, int, default=0, signed=False)
    fid = bit_field(6, int, default=0, signed=False)
    data = bit_field(920, bytes, default=b'', variable_length=True)


@attr.s(slots=True)
class MessageType7(Payload):
    """
    Binary Acknowledge
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_7_binary_acknowledge
    """
    msg_type = bit_field(6, int, default=7, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)
    mmsi1 = bit_field(30, int, default=0, from_converter=from_mmsi)
    mmsiseq1 = bit_field(2, int, default=0, signed=False)
    mmsi2 = bit_field(30, int, default=0, from_converter=from_mmsi)
    mmsiseq2 = bit_field(2, int, default=0, signed=False)
    mmsi3 = bit_field(30, int, default=0, from_converter=from_mmsi)
    mmsiseq3 = bit_field(2, int, default=0, signed=False)
    mmsi4 = bit_field(30, int, default=0, from_converter=from_mmsi)
    mmsiseq4 = bit_field(2, int, default=0, signed=False)


@attr.s(slots=True)
class MessageType8(Payload):
    @classmethod
    def create(cls, **kwargs: typing.Union[str, float, int, bool, bytes]) -> "ANY_MESSAGE":
        dac: int = int(kwargs.get("dac", 0))
        fid: int = int(kwargs.get("fid", 0))
        if dac == 200 and fid == 10:
            return MessageType8Dac200Fid10.create(**kwargs)
        else:
            return MessageType8Default.create(**kwargs)

    @classmethod
    def from_bitarray(cls, bit_arr: bitarray) -> "ANY_MESSAGE":
        dac: int = get_int(bit_arr, 40, 50)
        fid: int = get_int(bit_arr, 50, 56)
        if dac == 200 and fid == 10:
            return MessageType8Dac200Fid10.from_bitarray(bit_arr)
        else:
            return MessageType8Default.from_bitarray(bit_arr)


@attr.s(slots=True)
class MessageType8Default(Payload):
    """
    Binary Acknowledge
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_8_binary_broadcast_message
    """

    msg_type = bit_field(6, int, default=8, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b"", is_spare=True)
    dac = bit_field(10, int, default=0, signed=False)
    fid = bit_field(6, int, default=0, signed=False)
    data = bit_field(952, bytes, default=b"", variable_length=True)


@attr.s(slots=True)
class MessageType8Dac200Fid10(Payload):
    """
    Binary Acknowledge
    Inland variant with dac=200, fid=10

    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_8_binary_broadcast_message
    Msg variant: ECE/TRANS/SC.3/176 page 37
    https://unece.org/fileadmin/DAM/trans/doc/finaldocs/sc3/ECE-TRANS-SC3-176e.pdf
    """

    msg_type = bit_field(6, int, default=8, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b"", is_spare=True)
    dac = bit_field(10, int, default=0, signed=False)
    fid = bit_field(6, int, default=0, signed=False)
    # Unique European Vessel Identification Number / ERI number
    vin = bit_field(48, str, default="")
    # 1 - 8000 (rest not to be used) length of ship in 1/10m 0 = default
    length = bit_field(13, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=False)
    # 1 - 1000 (rest not to be used) beam of ship in 1/10m; 0 = default
    beam = bit_field(10, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=False)
    # Numeric ERI Classification (CODES):
    # 1 Vessel and Convoy Type as described in ANNEX
    # E ERI ship types
    shiptype = bit_field(14, int, default=0, signed=False)
    # Number of blue cones/lights 0 - 3;
    # 4 = B-Flag, 5 = default = unknown
    hazard = bit_field(3, int, default=5, signed=False)
    # 1 - 2000 (rest not used) draught in 1/100m, 0 = default = unknown
    draught = bit_field(
        11,
        float,
        from_converter=from_100th,
        to_converter=to_100th,
        default=0,
        signed=False,
    )
    # 1 = loaded, 2 = unloaded, 0 = not available/default,, 3 should not be used
    # InlandLoadedType
    loaded = bit_field(
        2,
        int,
        default=InlandLoadedType.NotAvailable,
        from_converter=InlandLoadedType.from_value,
        to_converter=InlandLoadedType.from_value,
        signed=False,
    )
    speed_q = bit_field(1, bool, default=False)
    course_q = bit_field(1, bool, default=False)
    heading_q = bit_field(1, bool, default=False)
    spare = bit_field(8, bytes, default=0, is_spare=True)


@attr.s(slots=True)
class MessageType9(Payload, CommunicationStateMixin):
    """
    Standard SAR Aircraft Position Report
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_9_standard_sar_aircraft_position_report
    """
    msg_type = bit_field(6, int, default=9, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    alt = bit_field(12, int, default=0, signed=False)
    # speed over ground is in knots, not deciknots
    speed = bit_field(10, float, default=0, signed=False)
    accuracy = bit_field(1, bool, default=0, signed=False)
    lon = bit_field(28, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    lat = bit_field(27, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    course = bit_field(12, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=False)
    second = bit_field(6, int, default=0, signed=False)

    reserved_1 = bit_field(8, int, default=0)
    dte = bit_field(1, bool, default=0)
    spare_1 = bit_field(3, bytes, default=b'', is_spare=True)
    assigned = bit_field(1, bool, default=0)
    raim = bit_field(1, bool, default=0)
    radio = bit_field(20, int, default=0, signed=False)


@attr.s(slots=True)
class MessageType10(Payload):
    """
    UTC/Date Inquiry
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_10_utc_date_inquiry
    """
    msg_type = bit_field(6, int, default=10, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)
    dest_mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_2 = bit_field(2, bytes, default=b'', is_spare=True)


class MessageType11(MessageType4):
    """
    UTC/Date Response
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_11_utc_date_response
    """
    msg_type = bit_field(6, int, default=11, signed=False)


@attr.s(slots=True)
class MessageType12(Payload):
    """
    Addressed Safety-Related Message
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_12_addressed_safety_related_message
    """
    msg_type = bit_field(6, int, default=12, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    seqno = bit_field(2, int, default=0, signed=False)
    dest_mmsi = bit_field(30, int, from_converter=from_mmsi)
    retransmit = bit_field(1, bool, default=False, signed=False)
    spare_1 = bit_field(1, bytes, default=b'', is_spare=True)
    text = bit_field(936, str, default='', variable_length=True)


class MessageType13(MessageType7):
    """
    Identical to type 7
    """
    msg_type = bit_field(6, int, default=13, signed=False)


@attr.s(slots=True)
class MessageType14(Payload):
    """
    Safety-Related Broadcast Message
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_14_safety_related_broadcast_message
    """
    msg_type = bit_field(6, int, default=14, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)
    text = bit_field(968, str, default='', variable_length=True)


@attr.s(slots=True)
class MessageType15(Payload):
    """
    Interrogation
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_15_interrogation
    """
    msg_type = bit_field(6, int, default=15, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)
    mmsi1 = bit_field(30, int, default=0, from_converter=from_mmsi)
    type1_1 = bit_field(6, int, default=0, signed=False)
    offset1_1 = bit_field(12, int, default=0, signed=False)
    spare_2 = bit_field(2, bytes, default=b'', is_spare=True)
    type1_2 = bit_field(6, int, default=0, signed=False)
    offset1_2 = bit_field(12, int, default=0, signed=False)
    spare_3 = bit_field(2, bytes, default=b'', is_spare=True)
    mmsi2 = bit_field(30, int, default=0, from_converter=from_mmsi)
    type2_1 = bit_field(6, int, default=0, signed=False)
    offset2_1 = bit_field(12, int, default=0, signed=False)
    spare_4 = bit_field(2, bytes, default=b'', is_spare=True)


@attr.s(slots=True)
class MessageType16DestinationA(Payload):
    """
    Assignment Mode Command (short)
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_16_assignment_mode_command
    """
    msg_type = bit_field(6, int, default=16, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)

    mmsi1 = bit_field(30, int, default=0, from_converter=from_mmsi)
    offset1 = bit_field(12, int, default=0, signed=False)
    increment1 = bit_field(10, int, default=0, signed=False)
    spare_2 = bit_field(4, bytes, default=b'', is_spare=True)


@attr.s(slots=True)
class MessageType16DestinationAB(Payload):
    """
    Assignment Mode Command (long)
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_16_assignment_mode_command
    """
    msg_type = bit_field(6, int, default=16, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)

    mmsi1 = bit_field(30, int, default=0, from_converter=from_mmsi)
    offset1 = bit_field(12, int, default=0, signed=False)
    increment1 = bit_field(10, int, default=0, signed=False)

    mmsi2 = bit_field(30, int, default=0, from_converter=from_mmsi)
    offset2 = bit_field(12, int, default=0, signed=False)
    increment2 = bit_field(10, int, default=0, signed=False)


@attr.s(slots=True)
class MessageType16(Payload):
    """If the message is 96 bits long, it should be interpreted as an assignment for a single station (92 bits)
    followed by 4 bits of padding reserved for future use. If the message is 144 bits long it should be
    interpreted as a channel assignment for two stations; no padding follows."""
    @classmethod
    def create(cls, **kwargs: typing.Union[str, float, int, bool, bytes]) -> "ANY_MESSAGE":
        if 'mmsi2' in kwargs:
            return MessageType16DestinationAB.create(**kwargs)
        return MessageType16DestinationA.create(**kwargs)

    @classmethod
    def from_bitarray(cls, bit_arr: bitarray) -> "ANY_MESSAGE":
        if len(bit_arr) > 96:
            return MessageType16DestinationAB.from_bitarray(bit_arr)
        return MessageType16DestinationA.from_bitarray(bit_arr)


@attr.s(slots=True)
class MessageType17(Payload):
    """
    DGNSS Broadcast Binary Message
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_17_dgnss_broadcast_binary_message
    """
    msg_type = bit_field(6, int, default=17, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)
    # Note that latitude and longitude are in units of a tenth of a minute
    lon = bit_field(18, float, from_converter=from_10th, to_converter=to_10th, default=0)
    lat = bit_field(17, float, from_converter=from_10th, to_converter=to_10th, default=0)
    spare_2 = bit_field(5, bytes, default=b'', is_spare=True)
    data = bit_field(736, bytes, default=b'', variable_length=True)


@attr.s(slots=True)
class MessageType18(Payload, CommunicationStateMixin):
    """
    Standard Class B CS Position Report
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_18_standard_class_b_cs_position_report
    """
    msg_type = bit_field(6, int, default=18, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    reserved_1 = bit_field(8, int, default=0, signed=False)
    speed = bit_field(10, float, from_converter=from_speed, to_converter=to_speed, default=0, signed=False)
    accuracy = bit_field(1, bool, default=0, signed=False)
    lon = bit_field(28, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    lat = bit_field(27, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    course = bit_field(12, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=False)
    heading = bit_field(9, int, default=0, signed=False)
    second = bit_field(6, int, default=0, signed=False)
    reserved_2 = bit_field(2, int, default=0, signed=False)
    cs = bit_field(1, bool, default=0, signed=False)
    display = bit_field(1, bool, default=0)
    dsc = bit_field(1, bool, default=0)
    band = bit_field(1, bool, default=0)
    msg22 = bit_field(1, bool, default=0)
    assigned = bit_field(1, bool, default=0)
    raim = bit_field(1, bool, default=0)
    radio = bit_field(20, int, default=0)


@attr.s(slots=True)
class MessageType19(Payload):
    """
    Extended Class B CS Position Report
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_19_extended_class_b_cs_position_report
    """
    msg_type = bit_field(6, int, default=19, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    reserved_1 = bit_field(8, int, default=0)

    speed = bit_field(10, float, from_converter=from_speed, to_converter=to_speed, default=0, signed=False)
    accuracy = bit_field(1, bool, default=0, signed=False)
    lon = bit_field(28, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    lat = bit_field(27, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    course = bit_field(12, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=False)
    heading = bit_field(9, int, default=0, signed=False)
    second = bit_field(6, int, default=0, signed=False)
    reserved_2 = bit_field(4, int, default=0, signed=False)
    shipname = bit_field(120, str, default='')
    ship_type = bit_field(8, int, default=0, from_converter=ShipType.from_value, to_converter=ShipType.from_value,
                          signed=False)
    to_bow = bit_field(9, int, default=0, signed=False)
    to_stern = bit_field(9, int, default=0, signed=False)
    to_port = bit_field(6, int, default=0, signed=False)
    to_starboard = bit_field(6, int, default=0, signed=False)
    epfd = bit_field(4, int, default=EpfdType.Undefined, from_converter=EpfdType.from_value, to_converter=EpfdType.from_value)
    raim = bit_field(1, bool, default=0)
    dte = bit_field(1, bool, default=0)
    assigned = bit_field(1, bool, default=0, signed=False)
    spare_1 = bit_field(4, bytes, default=b'', is_spare=True)


@attr.s(slots=True)
class MessageType20(Payload):
    """
    Data Link Management Message
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_20_data_link_management_message
    """
    msg_type = bit_field(6, int, default=20, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)

    offset1 = bit_field(12, int, default=0, signed=False)
    number1 = bit_field(4, int, default=0, signed=False)
    timeout1 = bit_field(3, int, default=0, signed=False)
    increment1 = bit_field(11, int, default=0, signed=False)

    offset2 = bit_field(12, int, default=0, signed=False)
    number2 = bit_field(4, int, default=0, signed=False)
    timeout2 = bit_field(3, int, default=0, signed=False)
    increment2 = bit_field(11, int, default=0, signed=False)

    offset3 = bit_field(12, int, default=0, signed=False)
    number3 = bit_field(4, int, default=0, signed=False)
    timeout3 = bit_field(3, int, default=0, signed=False)
    increment3 = bit_field(11, int, default=0, signed=False)

    offset4 = bit_field(12, int, default=0, signed=False)
    number4 = bit_field(4, int, default=0, signed=False)
    timeout4 = bit_field(3, int, default=0, signed=False)
    increment4 = bit_field(11, int, default=0, signed=False)


@attr.s(slots=True)
class MessageType21(Payload):
    """
    Aid-to-Navigation Report
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_21_aid_to_navigation_report
    """
    msg_type = bit_field(6, int, default=21, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    aid_type = bit_field(5, int, default=0, from_converter=NavAid.from_value, to_converter=NavAid.from_value,
                         signed=False)
    name = bit_field(120, str, default='')

    accuracy = bit_field(1, bool, default=0, signed=False)
    lon = bit_field(28, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    lat = bit_field(27, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    to_bow = bit_field(9, int, default=0, signed=False)
    to_stern = bit_field(9, int, default=0, signed=False)
    to_port = bit_field(6, int, default=0, signed=False)
    to_starboard = bit_field(6, int, default=0, signed=False)

    epfd = bit_field(4, int, default=EpfdType.Undefined, from_converter=EpfdType.from_value, to_converter=EpfdType.from_value)
    second = bit_field(6, int, default=0, signed=False)
    off_position = bit_field(1, bool, default=0)
    reserved_1 = bit_field(8, int, default=0, signed=False)
    raim = bit_field(1, bool, default=0)
    virtual_aid = bit_field(1, bool, default=0)
    assigned = bit_field(1, bool, default=0)
    spare_1 = bit_field(1, bytes, default=b'', is_spare=True)
    name_ext = bit_field(88, str, default='')

    @functools.cached_property
    def full_name(self) -> str:
        """The name field is up to 20 characters of 6-bit ASCII. If this field
        is full (has no trailing @ characters) the decoder should interpret
        the Name Extension field later in the message (no more than 14 6-bit
        characters) and concatenate it to this one to obtain the full name."""
        if self.name:
            if self.name_ext:
                return f"{self.name}{self.name_ext}"
            return str(self.name)
        return ""


@attr.s(slots=True)
class MessageType22Addressed(Payload):
    """
    Channel Management
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_22_channel_management
    """
    msg_type = bit_field(6, int, default=22, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)

    channel_a = bit_field(12, int, default=0, signed=False)
    channel_b = bit_field(12, int, default=0, signed=False)
    txrx = bit_field(4, int, default=0, signed=False)
    power = bit_field(1, bool, default=0)  # 69 bits

    # If it is addressed (addressed field is 1),
    # the same span of data is interpreted as two 30-bit MMSIs
    # beginning at bit offsets 69 and 104 respectively.
    dest1 = bit_field(30, int, default=0, from_converter=from_mmsi)
    empty_1 = bit_field(5, int, default=0)
    dest2 = bit_field(30, int, default=0, from_converter=from_mmsi)
    empty_2 = bit_field(5, int, default=0)

    addressed = bit_field(1, bool, default=0)
    band_a = bit_field(1, bool, default=0)
    band_b = bit_field(1, bool, default=0)
    zonesize = bit_field(3, int, default=0)
    spare_2 = bit_field(23, bytes, default=b'', is_spare=True)


@attr.s(slots=True)
class MessageType22Broadcast(Payload):
    """
    Channel Management
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_22_channel_management
    """
    msg_type = bit_field(6, int, default=22, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)

    channel_a = bit_field(12, int, default=0, signed=False)
    channel_b = bit_field(12, int, default=0, signed=False)
    txrx = bit_field(4, int, default=0, signed=False)
    power = bit_field(1, bool, default=0)

    # If the message is broadcast (addressed field is 0),
    # the ne_lon, ne_lat, sw_lon, and sw_lat fields are the
    # corners of a rectangular jurisdiction area over which control parameter
    # ne_lon, ne_lat, sw_lon, and sw_lat fields are in 0.1 minutes
    ne_lon = bit_field(18, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=True)
    ne_lat = bit_field(17, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=True)
    sw_lon = bit_field(18, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=True)
    sw_lat = bit_field(17, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=True)

    addressed = bit_field(1, bool, default=0)
    band_a = bit_field(1, bool, default=0)
    band_b = bit_field(1, bool, default=0)
    zonesize = bit_field(3, int, default=0, signed=False)
    spare_2 = bit_field(23, bytes, default=b'', is_spare=True)


class MessageType22(Payload):
    """
    Type 22 messages are different from other messages:
        The encoding differs depending on the `addressed` field. If the message is broadcast
        (addressed field is 0), the ne_lon, ne_lat, sw_lon, and sw_lat fields are the
        corners of a rectangular jurisdiction area over which control parameters are to
        be set. If it is addressed (addressed field is 1),
        the same span of data is interpreted as two 30-bit MMSIs beginning
        at bit offsets 69 and 104 respectively.
    """

    @classmethod
    def create(cls, **kwargs: typing.Union[str, float, int, bool, bytes]) -> "ANY_MESSAGE":
        if kwargs.get('addressed', False):
            return MessageType22Addressed.create(**kwargs)
        else:
            return MessageType22Broadcast.create(**kwargs)

    @classmethod
    def from_bitarray(cls, bit_arr: bitarray) -> "ANY_MESSAGE":
        if get_int(bit_arr, 139, 140):
            return MessageType22Addressed.from_bitarray(bit_arr)
        else:
            return MessageType22Broadcast.from_bitarray(bit_arr)


@attr.s(slots=True)
class MessageType23(Payload):
    """
    Group Assignment Command
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_23_group_assignment_command
    """
    msg_type = bit_field(6, int, default=23, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)
    spare_1 = bit_field(2, bytes, default=b'', is_spare=True)

    ne_lon = bit_field(18, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=True)
    ne_lat = bit_field(17, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=True)
    sw_lon = bit_field(18, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=True)
    sw_lat = bit_field(17, float, from_converter=from_10th, to_converter=to_10th, default=0, signed=True)

    station_type = bit_field(4, int, default=0, from_converter=StationType.from_value,
                             to_converter=StationType.from_value)
    ship_type = bit_field(8, int, default=0, from_converter=ShipType.from_value, to_converter=ShipType.from_value)
    spare_2 = bit_field(22, bytes, default=b'', is_spare=True)

    txrx = bit_field(2, int, default=0, from_converter=TransmitMode.from_value, to_converter=TransmitMode.from_value,
                     signed=False)
    interval = bit_field(4, int, default=0, from_converter=StationIntervals.from_value,
                         to_converter=StationIntervals.from_value)
    quiet = bit_field(4, int, default=0, signed=False)
    spare_3 = bit_field(6, bytes, default=b'', is_spare=True)


@attr.s(slots=True)
class MessageType24PartA(Payload):
    msg_type = bit_field(6, int, default=24, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    partno = bit_field(2, int, default=0, signed=False)
    shipname = bit_field(120, str, default='')
    spare_1 = bit_field(8, bytes, default=b'', is_spare=True)


@attr.s(slots=True)
class MessageType24PartB(Payload):
    msg_type = bit_field(6, int, default=24, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    partno = bit_field(2, int, default=0, signed=False)
    ship_type = bit_field(8, int, default=0, signed=False)
    vendorid = bit_field(18, str, default='', signed=False)
    model = bit_field(4, int, default=0, signed=False)
    serial = bit_field(20, int, default=0, signed=False)
    callsign = bit_field(42, str, default='')

    to_bow = bit_field(9, int, default=0, signed=False)
    to_stern = bit_field(9, int, default=0, signed=False)
    to_port = bit_field(6, int, default=0, signed=False)
    to_starboard = bit_field(6, int, default=0, signed=False)

    spare_1 = bit_field(6, bytes, default=b'', is_spare=True)


@attr.s(slots=True)
class MessageType24PartBAuxiliaryCraft(Payload):
    """
    Static Data Report - Part B (Auxiliary Craft Variant)

    When the MMSI follows the pattern 98XXXYYYY (auxiliary craft),
    bits 132-161 contain the mothership MMSI instead of vessel dimensions.

    See ITU-R M.1371-5 for specification details.
    """
    msg_type = bit_field(6, int, default=24, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    partno = bit_field(2, int, default=0, signed=False)
    ship_type = bit_field(8, int, default=0, signed=False)
    vendorid = bit_field(18, str, default='', signed=False)
    model = bit_field(4, int, default=0, signed=False)
    serial = bit_field(20, int, default=0, signed=False)
    callsign = bit_field(42, str, default='')

    mothership_mmsi = bit_field(30, int, from_converter=from_mmsi)

    spare_1 = bit_field(6, bytes, default=b'', is_spare=True)


class MessageType24(Payload):
    """
    Static Data Report
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_24_static_data_report

    Just like message type 22, this message encodes different fields depending
    on the `partno` field.
    If the Part Number field is 0, the rest of the message is interpreted as a Part A; if it is 1,
    the rest of the message is interpreted as a Part B;
    """

    @classmethod
    def create(cls, **kwargs: typing.Union[str, float, int, bool, bytes]) -> "ANY_MESSAGE":
        mmsi: int = int(kwargs.get('mmsi', 0))
        partno: int = int(kwargs.get('partno', 0))
        if partno == 0:
            return MessageType24PartA.create(**kwargs)
        elif partno == 1:
            if is_auxiliary_craft(mmsi):
                return MessageType24PartBAuxiliaryCraft.create(**kwargs)
            return MessageType24PartB.create(**kwargs)
        else:
            raise UnknownPartNoException(f"Partno {partno} is not allowed!")

    @classmethod
    def from_bitarray(cls, bit_arr: bitarray) -> "ANY_MESSAGE":
        mmsi: int = get_int(bit_arr, 8, 38)
        partno: int = get_int(bit_arr, 38, 40)
        if partno == 0:
            return MessageType24PartA.from_bitarray(bit_arr)
        elif partno == 1:
            if is_auxiliary_craft(mmsi):
                return MessageType24PartBAuxiliaryCraft.from_bitarray(bit_arr)
            return MessageType24PartB.from_bitarray(bit_arr)
        else:
            raise UnknownPartNoException(f"Partno {partno} is not allowed!")


@attr.s(slots=True)
class MessageType25AddressedStructured(Payload):
    msg_type = bit_field(6, int, default=25, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    addressed = bit_field(1, bool, default=0, signed=False)
    structured = bit_field(1, bool, default=0, signed=False)

    dest_mmsi = bit_field(30, int, default=0, from_converter=from_mmsi, signed=False)
    app_id = bit_field(16, int, default=0, signed=False)
    data = bit_field(82, bytes, default=b'')


@attr.s(slots=True)
class MessageType25BroadcastStructured(Payload):
    msg_type = bit_field(6, int, default=25, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    addressed = bit_field(1, bool, default=0, signed=False)
    structured = bit_field(1, bool, default=0, signed=False)

    app_id = bit_field(16, int, default=0, signed=False)
    data = bit_field(112, bytes, default=b'', )


@attr.s(slots=True)
class MessageType25AddressedUnstructured(Payload):
    msg_type = bit_field(6, int, default=25, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    addressed = bit_field(1, bool, default=0, signed=False)
    structured = bit_field(1, bool, default=0, signed=False)

    dest_mmsi = bit_field(30, int, default=0, from_converter=from_mmsi)
    data = bit_field(98, bytes, default=b'')


@attr.s(slots=True)
class MessageType25BroadcastUnstructured(Payload):
    msg_type = bit_field(6, int, default=25, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    addressed = bit_field(1, bool, default=0, signed=False)
    structured = bit_field(1, bool, default=0, signed=False)

    data = bit_field(128, bytes, default=b'')


class MessageType25(Payload):
    """
    Single Slot Binary Message
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_25_single_slot_binary_message

    NOTE: This message type is quite uncommon and
    I was not able find any real world occurrence of the type.
    Also documentation seems to vary. Use with caution.
    """

    @classmethod
    def create(cls, **kwargs: typing.Union[str, float, int, bool, bytes]) -> "ANY_MESSAGE":
        addressed = kwargs.get('addressed', False)
        structured = kwargs.get('structured', False)

        if addressed:
            if structured:
                return MessageType25AddressedStructured.create(**kwargs)
            else:
                return MessageType25AddressedUnstructured.create(**kwargs)
        else:
            if structured:
                return MessageType25BroadcastStructured.create(**kwargs)
            else:
                return MessageType25BroadcastUnstructured.create(**kwargs)

    @classmethod
    def from_bitarray(cls, bit_arr: bitarray) -> "ANY_MESSAGE":
        addressed: int = get_int(bit_arr, 38, 39)
        structured: int = get_int(bit_arr, 39, 40)

        if addressed:
            if structured:
                return MessageType25AddressedStructured.from_bitarray(bit_arr)
            else:
                return MessageType25AddressedUnstructured.from_bitarray(bit_arr)
        else:
            if structured:
                return MessageType25BroadcastStructured.from_bitarray(bit_arr)
            else:
                return MessageType25BroadcastUnstructured.from_bitarray(bit_arr)


@attr.s(slots=True)
class MessageType26AddressedStructured(Payload, CommunicationStateMixin):
    msg_type = bit_field(6, int, default=26, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    addressed = bit_field(1, bool, default=0, signed=False)
    structured = bit_field(1, bool, default=0, signed=False)

    dest_mmsi = bit_field(30, int, default=0, from_converter=from_mmsi)
    app_id = bit_field(16, int, default=0, signed=False)
    data = bit_field(958, bytes, default=b'')
    radio = bit_field(20, int, default=0, signed=False)


@attr.s(slots=True)
class MessageType26BroadcastStructured(Payload, CommunicationStateMixin):
    msg_type = bit_field(6, int, default=26, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    addressed = bit_field(1, bool, default=0, signed=False)
    structured = bit_field(1, bool, default=0, signed=False)

    app_id = bit_field(16, int, default=0, signed=False)
    data = bit_field(988, bytes, default=b'')
    radio = bit_field(20, int, default=0, signed=False)


@attr.s(slots=True)
class MessageType26AddressedUnstructured(Payload, CommunicationStateMixin):
    msg_type = bit_field(6, int, default=26, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    addressed = bit_field(1, bool, default=0, signed=False)
    structured = bit_field(1, bool, default=0, signed=False)

    dest_mmsi = bit_field(30, int, default=0, from_converter=from_mmsi)
    app_id = bit_field(16, int, default=0, signed=False)
    data = bit_field(958, bytes, default=b'')
    radio = bit_field(20, int, default=0, signed=False)


@attr.s(slots=True)
class MessageType26BroadcastUnstructured(Payload, CommunicationStateMixin):
    msg_type = bit_field(6, int, default=26, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    addressed = bit_field(1, bool, default=0, signed=False)
    structured = bit_field(1, bool, default=0, signed=False)

    data = bit_field(1004, bytes, default=b'')
    radio = bit_field(20, int, default=0, signed=False)


class MessageType26(Payload):
    """
    Multiple Slot Binary Message
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_26_multiple_slot_binary_message

    NOTE: This message type is quite uncommon and
    I was not able find any real world occurrence of the type.
    Also documentation seems to vary. Use with caution.
    """

    @classmethod
    def create(cls, **kwargs: typing.Union[str, float, int, bool, bytes]) -> "ANY_MESSAGE":
        addressed = kwargs.get('addressed', False)
        structured = kwargs.get('structured', False)

        if addressed:
            if structured:
                return MessageType26AddressedStructured.create(**kwargs)
            else:
                return MessageType26AddressedUnstructured.create(**kwargs)
        else:
            if structured:
                return MessageType26BroadcastStructured.create(**kwargs)
            else:
                return MessageType26BroadcastUnstructured.create(**kwargs)

    @classmethod
    def from_bitarray(cls, bit_arr: bitarray) -> "ANY_MESSAGE":
        addressed: int = get_int(bit_arr, 38, 39)
        structured: int = get_int(bit_arr, 39, 40)

        if addressed:
            if structured:
                return MessageType26AddressedStructured.from_bitarray(bit_arr)
            else:
                return MessageType26AddressedUnstructured.from_bitarray(bit_arr)
        else:
            if structured:
                return MessageType26BroadcastStructured.from_bitarray(bit_arr)
            else:
                return MessageType26BroadcastUnstructured.from_bitarray(bit_arr)


@attr.s(slots=True)
class MessageType27(Payload):
    """
    Long Range AIS Broadcast message
    Src: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_27_long_range_ais_broadcast_message
    """
    msg_type = bit_field(6, int, default=27, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    accuracy = bit_field(1, bool, default=0, signed=False)
    raim = bit_field(1, bool, default=0, signed=False)
    status = bit_field(4, int, default=NavigationStatus.Undefined, from_converter=NavigationStatus, to_converter=NavigationStatus, signed=False)
    lon = bit_field(18, float, from_converter=from_lat_lon_600, to_converter=to_lat_lon_600, default=0, signed=True)
    lat = bit_field(17, float, from_converter=from_lat_lon_600, to_converter=to_lat_lon_600, default=0, signed=True)
    speed = bit_field(6, float, default=0, signed=False)
    course = bit_field(9, float, default=0, signed=False)
    gnss = bit_field(1, bool, default=0, signed=False)
    spare_1 = bit_field(1, bytes, default=b'', is_spare=True)


@attr.s(slots=True)
class MessageType28(Payload):
    """
    Aid-to-Navigation Report (Single-slot message)
    Defined in ITU-R M.1371-6

    NOTE: provides similar information as AIS Message 21, but in one slot versus two slot.
    """
    msg_type = bit_field(6, int, default=28, signed=False)
    repeat = bit_field(2, int, default=0, signed=False)
    mmsi = bit_field(30, int, from_converter=from_mmsi)

    second = bit_field(6, int, default=0, signed=False)
    lon = bit_field(28, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    lat = bit_field(27, float, from_converter=from_lat_lon, to_converter=to_lat_lon, signed=True, default=0)
    restricted = bit_field(2, int, default=0, signed=False, from_converter=AtoNRestrictedUseInidicator, to_converter=AtoNRestrictedUseInidicator)
    station_type = bit_field(3, int, default=0, from_converter=AtoNSationType.from_value, to_converter=AtoNSationType.from_value)
    aid_type = bit_field(7, int, default=0, from_converter=NavAid.from_value, to_converter=NavAid.from_value, signed=False)
    iala_mrn = bit_field(17, int, default=0, signed=False)

    dimension = bit_field(4, int, default=0, signed=False, from_converter=AtoNDimensionType, to_converter=AtoNDimensionType)
    dimensions_a = bit_field(9, int, default=0, signed=False)
    dimensions_b = bit_field(11, int, default=0, signed=False)
    dimension_additional_data = bit_field(1, int, default=0, signed=False)
    charted_status = bit_field(1, int, default=0, signed=False)
    station_status = bit_field(4, int, default=0, signed=False)
    status_bits = bit_field(8, int, default=0, signed=False)
    spare = bit_field(1, int, default=0, signed=False)
    auth = bit_field(1, int, default=0, signed=False)

    def parse_dimensions(self) -> ParsedDimensions:
        """Parse the dimensions according to ITU-R M.1371-6 table 84"""
        return parse_dimensions(self.dimension, self.dimensions_a, self.dimensions_b)

    @property
    def has_multiple_dimension_types(self) -> bool:
        """Whether this AtoN uses multiple dimension types for the same MMSI"""
        return bool(self.dimension_additional_data == 1)


MSG_CLASS = {
    0: MessageType1,  # there are messages with a zero (0) as an id. these seem to be the same as type 1 messages
    1: MessageType1,
    2: MessageType2,
    3: MessageType3,
    4: MessageType4,
    5: MessageType5,
    6: MessageType6,
    7: MessageType7,
    8: MessageType8,
    9: MessageType9,
    10: MessageType10,
    11: MessageType11,
    12: MessageType12,
    13: MessageType13,
    14: MessageType14,
    15: MessageType15,
    16: MessageType16,
    17: MessageType17,
    18: MessageType18,
    19: MessageType19,
    20: MessageType20,
    21: MessageType21,
    22: MessageType22,
    23: MessageType23,
    24: MessageType24,
    25: MessageType25,
    26: MessageType26,
    27: MessageType27,
    28: MessageType28,
}

# This is type hint for all messages
ANY_MESSAGE = typing.Union[
    MessageType1,
    MessageType2,
    MessageType3,
    MessageType4,
    MessageType5,
    MessageType6,
    MessageType7,
    MessageType8Default,
    MessageType8Dac200Fid10,
    MessageType9,
    MessageType10,
    MessageType11,
    MessageType12,
    MessageType13,
    MessageType14,
    MessageType15,
    MessageType16DestinationA,
    MessageType16DestinationAB,
    MessageType17,
    MessageType18,
    MessageType19,
    MessageType20,
    MessageType21,
    MessageType22Addressed,
    MessageType22Broadcast,
    MessageType23,
    MessageType24PartA,
    MessageType24PartB,
    MessageType25AddressedStructured,
    MessageType25AddressedUnstructured,
    MessageType25BroadcastStructured,
    MessageType25BroadcastUnstructured,
    MessageType26AddressedStructured,
    MessageType26AddressedUnstructured,
    MessageType26BroadcastStructured,
    MessageType26BroadcastUnstructured,
    MessageType27,
    MessageType28,
]

# This is only there for backwards compatibility
NMEAMessage = AISSentence
