diff --git a/c/include/libsbp/cpp/message_traits.h b/c/include/libsbp/cpp/message_traits.h index a63cafc110..62eea87ec3 100644 --- a/c/include/libsbp/cpp/message_traits.h +++ b/c/include/libsbp/cpp/message_traits.h @@ -4983,6 +4983,41 @@ struct MessageTraits { } }; +template <> +struct MessageTraits { + static constexpr sbp_msg_type_t id = SbpMsgSensorAidEvent; + static const sbp_msg_sensor_aid_event_t &get(const sbp_msg_t &msg) { + return msg.sensor_aid_event; + } + static sbp_msg_sensor_aid_event_t &get(sbp_msg_t &msg) { + return msg.sensor_aid_event; + } + static void to_sbp_msg(const sbp_msg_sensor_aid_event_t &msg, + sbp_msg_t *sbp_msg) { + sbp_msg->sensor_aid_event = msg; + } + static sbp_msg_t to_sbp_msg(const sbp_msg_sensor_aid_event_t &msg) { + sbp_msg_t sbp_msg; + sbp_msg.sensor_aid_event = msg; + return sbp_msg; + } + static s8 send(sbp_state_t *state, u16 sender_id, + const sbp_msg_sensor_aid_event_t &msg, sbp_write_fn_t write) { + return sbp_msg_sensor_aid_event_send(state, sender_id, &msg, write); + } + static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written, + const sbp_msg_sensor_aid_event_t &msg) { + return sbp_msg_sensor_aid_event_encode(buf, len, n_written, &msg); + } + static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read, + sbp_msg_sensor_aid_event_t *msg) { + return sbp_msg_sensor_aid_event_decode(buf, len, n_read, msg); + } + static size_t encoded_len(const sbp_msg_sensor_aid_event_t &msg) { + return sbp_msg_sensor_aid_event_encoded_len(&msg); + } +}; + template <> struct MessageTraits { static constexpr sbp_msg_type_t id = SbpMsgSetTime; diff --git a/c/include/libsbp/legacy/cpp/message_traits.h b/c/include/libsbp/legacy/cpp/message_traits.h index 673d11827f..59d5d21fb6 100644 --- a/c/include/libsbp/legacy/cpp/message_traits.h +++ b/c/include/libsbp/legacy/cpp/message_traits.h @@ -1176,6 +1176,12 @@ struct MessageTraits { }; +template<> +struct MessageTraits { + static constexpr u16 id = 65289; +}; + + template<> struct MessageTraits { static constexpr u16 id = 65290; diff --git a/c/include/libsbp/legacy/system.h b/c/include/libsbp/legacy/system.h index 4c432f99e5..a3b80da461 100644 --- a/c/include/libsbp/legacy/system.h +++ b/c/include/libsbp/legacy/system.h @@ -196,6 +196,25 @@ typedef struct SBP_ATTR_PACKED { u8 flags; /**< Status flags */ } msg_pps_time_t; +/** Sensor state and update status data + * + * This diagnostic message contains state and update status information for + * all sensors that are being used by the fusion engine. This message will be + * generated asynchronously to the solution messages and will be emitted + * anytime a sensor update is being processed. + */ + +typedef struct SBP_ATTR_PACKED { + u32 time; /**< Update timestamp in milliseconds. [milliseconds] */ + u8 sensor_type; /**< Sensor type */ + u16 sensor_id; /**< Sensor identifier */ + u8 sensor_state; /**< Reserved for future use */ + u8 n_available_meas; /**< Number of available measurements in this epoch */ + u8 n_attempted_meas; /**< Number of attempted measurements in this epoch */ + u8 n_accepted_meas; /**< Number of accepted measurements in this epoch */ + u32 flags; /**< Reserved for future use */ +} msg_sensor_aid_event_t; + /** Solution Group Metadata * * This leading message lists the time metadata of the Solution Group. It also diff --git a/c/include/libsbp/sbp_msg_type.h b/c/include/libsbp/sbp_msg_type.h index 6e709d6e1f..f1e7451ff0 100644 --- a/c/include/libsbp/sbp_msg_type.h +++ b/c/include/libsbp/sbp_msg_type.h @@ -188,6 +188,7 @@ typedef enum { SbpMsgResetFilters = SBP_MSG_RESET_FILTERS, SbpMsgReset = SBP_MSG_RESET, SbpMsgSbasRaw = SBP_MSG_SBAS_RAW, + SbpMsgSensorAidEvent = SBP_MSG_SENSOR_AID_EVENT, SbpMsgSetTime = SBP_MSG_SET_TIME, SbpMsgSettingsReadByIndexDone = SBP_MSG_SETTINGS_READ_BY_INDEX_DONE, SbpMsgSettingsReadByIndexReq = SBP_MSG_SETTINGS_READ_BY_INDEX_REQ, diff --git a/c/include/libsbp/system_macros.h b/c/include/libsbp/system_macros.h index 9272280f1a..fe6cad067f 100644 --- a/c/include/libsbp/system_macros.h +++ b/c/include/libsbp/system_macros.h @@ -744,6 +744,33 @@ */ #define SBP_MSG_PPS_TIME_ENCODED_LEN 9u +#define SBP_MSG_SENSOR_AID_EVENT 0xFF09 +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_MASK (0xff) +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_SHIFT (0u) +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_GET(flags) \ + ((u8)(((flags) >> SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_SHIFT) & \ + SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_MASK)) +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_SET(flags, val) \ + do { \ + (flags) = \ + (u8)((flags) | (((val) & (SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_MASK)) \ + << (SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_SHIFT))); \ + } while (0) + +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_GNSS_POSITION (0) +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_GNSS_AVERAGE_VELOCITY (1) +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_GNSS_INSTANTANEOUS_VELOCITY (2) +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_WHEEL_TICKS (3) +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_WHEEL_SPEED (4) +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_IMU (5) +#define SBP_SENSOR_AID_EVENT_TYPE_IDENTIFIER_TIME_DIFFERENCES_OF_CARRIER_PHASE \ + (6) +/** + * Encoded length of sbp_msg_sensor_aid_event_t (V4 API) and + * msg_sensor_aid_event_t (legacy API) + */ +#define SBP_MSG_SENSOR_AID_EVENT_ENCODED_LEN 15u + #define SBP_MSG_GROUP_META 0xFF0A #define SBP_GROUP_META_SOLUTION_GROUP_TYPE_MASK (0x3) #define SBP_GROUP_META_SOLUTION_GROUP_TYPE_SHIFT (0u) diff --git a/c/include/libsbp/v4/sbp_msg.h b/c/include/libsbp/v4/sbp_msg.h index 7da96e50e2..4a9d0aba09 100644 --- a/c/include/libsbp/v4/sbp_msg.h +++ b/c/include/libsbp/v4/sbp_msg.h @@ -197,6 +197,7 @@ typedef union { sbp_msg_reset_filters_t reset_filters; sbp_msg_reset_t reset; sbp_msg_sbas_raw_t sbas_raw; + sbp_msg_sensor_aid_event_t sensor_aid_event; sbp_msg_set_time_t set_time; sbp_msg_settings_read_by_index_done_t settings_read_by_index_done; sbp_msg_settings_read_by_index_req_t settings_read_by_index_req; @@ -657,6 +658,9 @@ static inline s8 sbp_message_encode(uint8_t *buf, uint8_t len, return sbp_msg_reset_encode(buf, len, n_written, &msg->reset); case SbpMsgSbasRaw: return sbp_msg_sbas_raw_encode(buf, len, n_written, &msg->sbas_raw); + case SbpMsgSensorAidEvent: + return sbp_msg_sensor_aid_event_encode(buf, len, n_written, + &msg->sensor_aid_event); case SbpMsgSetTime: return sbp_msg_set_time_encode(buf, len, n_written, &msg->set_time); case SbpMsgSettingsReadByIndexDone: @@ -1219,6 +1223,9 @@ static inline s8 sbp_message_decode(const uint8_t *buf, uint8_t len, return sbp_msg_reset_decode(buf, len, n_read, &msg->reset); case SbpMsgSbasRaw: return sbp_msg_sbas_raw_decode(buf, len, n_read, &msg->sbas_raw); + case SbpMsgSensorAidEvent: + return sbp_msg_sensor_aid_event_decode(buf, len, n_read, + &msg->sensor_aid_event); case SbpMsgSetTime: return sbp_msg_set_time_decode(buf, len, n_read, &msg->set_time); case SbpMsgSettingsReadByIndexDone: @@ -1703,6 +1710,8 @@ static inline size_t sbp_message_encoded_len(sbp_msg_type_t msg_type, return sbp_msg_reset_encoded_len(&msg->reset); case SbpMsgSbasRaw: return sbp_msg_sbas_raw_encoded_len(&msg->sbas_raw); + case SbpMsgSensorAidEvent: + return sbp_msg_sensor_aid_event_encoded_len(&msg->sensor_aid_event); case SbpMsgSetTime: return sbp_msg_set_time_encoded_len(&msg->set_time); case SbpMsgSettingsReadByIndexDone: @@ -2209,6 +2218,9 @@ static inline int sbp_message_cmp(sbp_msg_type_t msg_type, const sbp_msg_t *a, return sbp_msg_reset_cmp(&a->reset, &b->reset); case SbpMsgSbasRaw: return sbp_msg_sbas_raw_cmp(&a->sbas_raw, &b->sbas_raw); + case SbpMsgSensorAidEvent: + return sbp_msg_sensor_aid_event_cmp(&a->sensor_aid_event, + &b->sensor_aid_event); case SbpMsgSetTime: return sbp_msg_set_time_cmp(&a->set_time, &b->set_time); case SbpMsgSettingsReadByIndexDone: diff --git a/c/include/libsbp/v4/system.h b/c/include/libsbp/v4/system.h index f9eee3295f..95ce17055f 100644 --- a/c/include/libsbp/v4/system.h +++ b/c/include/libsbp/v4/system.h @@ -26,6 +26,7 @@ #include #include #include +#include #include #include #include diff --git a/c/include/libsbp/v4/system/MSG_SENSOR_AID_EVENT.h b/c/include/libsbp/v4/system/MSG_SENSOR_AID_EVENT.h new file mode 100644 index 0000000000..1aadd0cffb --- /dev/null +++ b/c/include/libsbp/v4/system/MSG_SENSOR_AID_EVENT.h @@ -0,0 +1,216 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +/***************************************************************************** + * Automatically generated from yaml/swiftnav/sbp/system.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#ifndef LIBSBP_V4_SYSTEM_MSG_SENSOR_AID_EVENT_H +#define LIBSBP_V4_SYSTEM_MSG_SENSOR_AID_EVENT_H + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/****************************************************************************** + * + * SBP_MSG_SENSOR_AID_EVENT + * + *****************************************************************************/ +/** Sensor state and update status data + * + * This diagnostic message contains state and update status information for all + * sensors that are being used by the fusion engine. This message will be + * generated asynchronously to the solution messages and will be emitted anytime + * a sensor update is being processed. + */ +typedef struct { + /** + * Update timestamp in milliseconds. [milliseconds] + */ + u32 time; + + /** + * Sensor type + */ + u8 sensor_type; + + /** + * Sensor identifier + */ + u16 sensor_id; + + /** + * Reserved for future use + */ + u8 sensor_state; + + /** + * Number of available measurements in this epoch + */ + u8 n_available_meas; + + /** + * Number of attempted measurements in this epoch + */ + u8 n_attempted_meas; + + /** + * Number of accepted measurements in this epoch + */ + u8 n_accepted_meas; + + /** + * Reserved for future use + */ + u32 flags; +} sbp_msg_sensor_aid_event_t; + +/** + * Get encoded size of an instance of sbp_msg_sensor_aid_event_t + * + * @param msg sbp_msg_sensor_aid_event_t instance + * @return Length of on-wire representation + */ +static inline size_t sbp_msg_sensor_aid_event_encoded_len( + const sbp_msg_sensor_aid_event_t *msg) { + (void)msg; + return SBP_MSG_SENSOR_AID_EVENT_ENCODED_LEN; +} + +/** + * Encode an instance of sbp_msg_sensor_aid_event_t to wire representation + * + * This function encodes the given instance in to the user provided buffer. The + * buffer provided to this function must be large enough to store the encoded + * message otherwise it will return SBP_ENCODE_ERROR without writing anything to + * the buffer. + * + * Specify the length of the destination buffer in the \p len parameter. If + * non-null the number of bytes written to the buffer will be returned in \p + * n_written. + * + * @param buf Destination buffer + * @param len Length of \p buf + * @param n_written If not null, on success will be set to the number of bytes + * written to \p buf + * @param msg Instance of sbp_msg_sensor_aid_event_t to encode + * @return SBP_OK on success, or other libsbp error code + */ +SBP_EXPORT s8 +sbp_msg_sensor_aid_event_encode(uint8_t *buf, uint8_t len, uint8_t *n_written, + const sbp_msg_sensor_aid_event_t *msg); + +/** + * Decode an instance of sbp_msg_sensor_aid_event_t from wire representation + * + * This function decodes the wire representation of a sbp_msg_sensor_aid_event_t + * message to the given instance. The caller must specify the length of the + * buffer in the \p len parameter. If non-null the number of bytes read from the + * buffer will be returned in \p n_read. + * + * @param buf Wire representation of the sbp_msg_sensor_aid_event_t instance + * @param len Length of \p buf + * @param n_read If not null, on success will be set to the number of bytes read + * from \p buf + * @param msg Destination + * @return SBP_OK on success, or other libsbp error code + */ +SBP_EXPORT s8 sbp_msg_sensor_aid_event_decode(const uint8_t *buf, uint8_t len, + uint8_t *n_read, + sbp_msg_sensor_aid_event_t *msg); +/** + * Send an instance of sbp_msg_sensor_aid_event_t with the given write function + * + * An equivalent of #sbp_message_send which operates specifically on + * sbp_msg_sensor_aid_event_t + * + * The given message will be encoded to wire representation and passed in to the + * given write function callback. The write callback will be called several + * times for each invocation of this function. + * + * @param s SBP state + * @param sender_id SBP sender id + * @param msg Message to send + * @param write Write function + * @return SBP_OK on success, or other libsbp error code + */ +SBP_EXPORT s8 sbp_msg_sensor_aid_event_send( + sbp_state_t *s, u16 sender_id, const sbp_msg_sensor_aid_event_t *msg, + sbp_write_fn_t write); + +/** + * Compare two instances of sbp_msg_sensor_aid_event_t + * + * The two instances will be compared and a value returned consistent with the + * return codes of comparison functions from the C standard library + * + * 0 will be returned if \p a and \p b are considered equal + * A value less than 0 will be returned if \p a is considered to be less than \p + * b A value greater than 0 will be returned if \p b is considered to be greater + * than \p b + * + * @param a sbp_msg_sensor_aid_event_t instance + * @param b sbp_msg_sensor_aid_event_t instance + * @return 0, <0, >0 + */ +SBP_EXPORT int sbp_msg_sensor_aid_event_cmp( + const sbp_msg_sensor_aid_event_t *a, const sbp_msg_sensor_aid_event_t *b); + +#ifdef __cplusplus +} + +static inline bool operator==(const sbp_msg_sensor_aid_event_t &lhs, + const sbp_msg_sensor_aid_event_t &rhs) { + return sbp_msg_sensor_aid_event_cmp(&lhs, &rhs) == 0; +} + +static inline bool operator!=(const sbp_msg_sensor_aid_event_t &lhs, + const sbp_msg_sensor_aid_event_t &rhs) { + return sbp_msg_sensor_aid_event_cmp(&lhs, &rhs) != 0; +} + +static inline bool operator<(const sbp_msg_sensor_aid_event_t &lhs, + const sbp_msg_sensor_aid_event_t &rhs) { + return sbp_msg_sensor_aid_event_cmp(&lhs, &rhs) < 0; +} + +static inline bool operator<=(const sbp_msg_sensor_aid_event_t &lhs, + const sbp_msg_sensor_aid_event_t &rhs) { + return sbp_msg_sensor_aid_event_cmp(&lhs, &rhs) <= 0; +} + +static inline bool operator>(const sbp_msg_sensor_aid_event_t &lhs, + const sbp_msg_sensor_aid_event_t &rhs) { + return sbp_msg_sensor_aid_event_cmp(&lhs, &rhs) > 0; +} + +static inline bool operator>=(const sbp_msg_sensor_aid_event_t &lhs, + const sbp_msg_sensor_aid_event_t &rhs) { + return sbp_msg_sensor_aid_event_cmp(&lhs, &rhs) >= 0; +} + +#endif // ifdef __cplusplus + +#endif /* LIBSBP_V4_SYSTEM_MSG_SENSOR_AID_EVENT_H */ diff --git a/c/src/include/libsbp/internal/v4/system.h b/c/src/include/libsbp/internal/v4/system.h index af576a2c0f..5239d195f6 100644 --- a/c/src/include/libsbp/internal/v4/system.h +++ b/c/src/include/libsbp/internal/v4/system.h @@ -247,6 +247,26 @@ bool sbp_msg_pps_time_encode_internal(sbp_encode_ctx_t *ctx, bool sbp_msg_pps_time_decode_internal(sbp_decode_ctx_t *ctx, sbp_msg_pps_time_t *msg); +/** + * Internal function to encode an SBP type to a buffer + * + * @param ctx Encode context + * @param msg SBP type instance + * @return true on success, false otherwise + */ +bool sbp_msg_sensor_aid_event_encode_internal( + sbp_encode_ctx_t *ctx, const sbp_msg_sensor_aid_event_t *msg); + +/** + * Internal function to decode an SBP type from a buffer + * + * @param ctx Decode context + * @param msg SBP type instance + * @return true on success, false otherwise + */ +bool sbp_msg_sensor_aid_event_decode_internal(sbp_decode_ctx_t *ctx, + sbp_msg_sensor_aid_event_t *msg); + /** * Internal function to encode an SBP type to a buffer * diff --git a/c/src/v4/system.c b/c/src/v4/system.c index afa70616a6..dc01480993 100644 --- a/c/src/v4/system.c +++ b/c/src/v4/system.c @@ -1359,6 +1359,156 @@ int sbp_msg_pps_time_cmp(const sbp_msg_pps_time_t *a, return ret; } +bool sbp_msg_sensor_aid_event_encode_internal( + sbp_encode_ctx_t *ctx, const sbp_msg_sensor_aid_event_t *msg) { + if (!sbp_u32_encode(ctx, &msg->time)) { + return false; + } + if (!sbp_u8_encode(ctx, &msg->sensor_type)) { + return false; + } + if (!sbp_u16_encode(ctx, &msg->sensor_id)) { + return false; + } + if (!sbp_u8_encode(ctx, &msg->sensor_state)) { + return false; + } + if (!sbp_u8_encode(ctx, &msg->n_available_meas)) { + return false; + } + if (!sbp_u8_encode(ctx, &msg->n_attempted_meas)) { + return false; + } + if (!sbp_u8_encode(ctx, &msg->n_accepted_meas)) { + return false; + } + if (!sbp_u32_encode(ctx, &msg->flags)) { + return false; + } + return true; +} + +s8 sbp_msg_sensor_aid_event_encode(uint8_t *buf, uint8_t len, + uint8_t *n_written, + const sbp_msg_sensor_aid_event_t *msg) { + sbp_encode_ctx_t ctx; + ctx.buf = buf; + ctx.buf_len = len; + ctx.offset = 0; + if (!sbp_msg_sensor_aid_event_encode_internal(&ctx, msg)) { + return SBP_ENCODE_ERROR; + } + if (n_written != NULL) { + *n_written = (uint8_t)ctx.offset; + } + return SBP_OK; +} + +bool sbp_msg_sensor_aid_event_decode_internal(sbp_decode_ctx_t *ctx, + sbp_msg_sensor_aid_event_t *msg) { + if (!sbp_u32_decode(ctx, &msg->time)) { + return false; + } + if (!sbp_u8_decode(ctx, &msg->sensor_type)) { + return false; + } + if (!sbp_u16_decode(ctx, &msg->sensor_id)) { + return false; + } + if (!sbp_u8_decode(ctx, &msg->sensor_state)) { + return false; + } + if (!sbp_u8_decode(ctx, &msg->n_available_meas)) { + return false; + } + if (!sbp_u8_decode(ctx, &msg->n_attempted_meas)) { + return false; + } + if (!sbp_u8_decode(ctx, &msg->n_accepted_meas)) { + return false; + } + if (!sbp_u32_decode(ctx, &msg->flags)) { + return false; + } + return true; +} + +s8 sbp_msg_sensor_aid_event_decode(const uint8_t *buf, uint8_t len, + uint8_t *n_read, + sbp_msg_sensor_aid_event_t *msg) { + sbp_decode_ctx_t ctx; + ctx.buf = buf; + ctx.buf_len = len; + ctx.offset = 0; + if (!sbp_msg_sensor_aid_event_decode_internal(&ctx, msg)) { + return SBP_DECODE_ERROR; + } + if (n_read != NULL) { + *n_read = (uint8_t)ctx.offset; + } + return SBP_OK; +} + +s8 sbp_msg_sensor_aid_event_send(sbp_state_t *s, u16 sender_id, + const sbp_msg_sensor_aid_event_t *msg, + sbp_write_fn_t write) { + uint8_t payload[SBP_MAX_PAYLOAD_LEN]; + uint8_t payload_len; + s8 ret = sbp_msg_sensor_aid_event_encode(payload, sizeof(payload), + &payload_len, msg); + if (ret != SBP_OK) { + return ret; + } + return sbp_payload_send(s, SBP_MSG_SENSOR_AID_EVENT, sender_id, payload_len, + payload, write); +} + +int sbp_msg_sensor_aid_event_cmp(const sbp_msg_sensor_aid_event_t *a, + const sbp_msg_sensor_aid_event_t *b) { + int ret = 0; + + ret = sbp_u32_cmp(&a->time, &b->time); + if (ret != 0) { + return ret; + } + + ret = sbp_u8_cmp(&a->sensor_type, &b->sensor_type); + if (ret != 0) { + return ret; + } + + ret = sbp_u16_cmp(&a->sensor_id, &b->sensor_id); + if (ret != 0) { + return ret; + } + + ret = sbp_u8_cmp(&a->sensor_state, &b->sensor_state); + if (ret != 0) { + return ret; + } + + ret = sbp_u8_cmp(&a->n_available_meas, &b->n_available_meas); + if (ret != 0) { + return ret; + } + + ret = sbp_u8_cmp(&a->n_attempted_meas, &b->n_attempted_meas); + if (ret != 0) { + return ret; + } + + ret = sbp_u8_cmp(&a->n_accepted_meas, &b->n_accepted_meas); + if (ret != 0) { + return ret; + } + + ret = sbp_u32_cmp(&a->flags, &b->flags); + if (ret != 0) { + return ret; + } + return ret; +} + bool sbp_msg_group_meta_encode_internal(sbp_encode_ctx_t *ctx, const sbp_msg_group_meta_t *msg) { if (!sbp_u8_encode(ctx, &msg->group_id)) { diff --git a/c/test/auto_check_sbp_system_MsgSensorAidEvent.c b/c/test/auto_check_sbp_system_MsgSensorAidEvent.c new file mode 100644 index 0000000000..e86150492f --- /dev/null +++ b/c/test/auto_check_sbp_system_MsgSensorAidEvent.c @@ -0,0 +1,200 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +// This file was auto-generated from +// spec/tests/yaml/swiftnav/sbp/system/test_MsgSensorAidEvent.yaml by +// generate.py. Do not modify by hand! + +#include +#include +#include +#include // for debugging +#include // for malloc + +static struct { + u32 n_callbacks_logged; + u16 sender_id; + sbp_msg_type_t msg_type; + sbp_msg_t msg; + void *context; +} last_msg; + +static u32 dummy_wr = 0; +static u32 dummy_rd = 0; +static u8 dummy_buff[1024]; +static void *last_io_context; + +static void *DUMMY_MEMORY_FOR_CALLBACKS = (void *)0xdeadbeef; +static void *DUMMY_MEMORY_FOR_IO = (void *)0xdead0000; + +static void dummy_reset() { + dummy_rd = dummy_wr = 0; + memset(dummy_buff, 0, sizeof(dummy_buff)); +} + +static s32 dummy_write(u8 *buff, u32 n, void *context) { + last_io_context = context; + u32 real_n = n; //(dummy_n > n) ? n : dummy_n; + memcpy(dummy_buff + dummy_wr, buff, real_n); + dummy_wr += real_n; + return (s32)real_n; +} + +static s32 dummy_read(u8 *buff, u32 n, void *context) { + last_io_context = context; + u32 real_n = n; //(dummy_n > n) ? n : dummy_n; + memcpy(buff, dummy_buff + dummy_rd, real_n); + dummy_rd += real_n; + return (s32)real_n; +} + +static void logging_reset() { memset(&last_msg, 0, sizeof(last_msg)); } + +static void msg_callback(u16 sender_id, sbp_msg_type_t msg_type, + const sbp_msg_t *msg, void *context) { + last_msg.n_callbacks_logged++; + last_msg.sender_id = sender_id; + last_msg.msg_type = msg_type; + last_msg.msg = *msg; + last_msg.context = context; +} + +START_TEST(test_auto_check_sbp_system_MsgSensorAidEvent) { + static sbp_msg_callbacks_node_t n; + + // State of the SBP message parser. + // Must be statically allocated. + sbp_state_t sbp_state; + + // + // Run tests: + // + // Test successful parsing of a message + { + // SBP parser state must be initialized before sbp_process is called. + // We re-initialize before every test so that callbacks for the same message + // types can be + // allocated multiple times across different tests. + sbp_state_init(&sbp_state); + + sbp_state_set_io_context(&sbp_state, &DUMMY_MEMORY_FOR_IO); + + logging_reset(); + + sbp_callback_register(&sbp_state, 0xFF09, &msg_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n); + + u8 encoded_frame[] = { + 85, 9, 255, 211, 136, 15, 48, 246, 122, 19, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 33, 236, + }; + + dummy_reset(); + + sbp_msg_t test_msg; + memset(&test_msg, 0, sizeof(test_msg)); + + test_msg.sensor_aid_event.flags = 0; + + test_msg.sensor_aid_event.n_accepted_meas = 0; + + test_msg.sensor_aid_event.n_attempted_meas = 0; + + test_msg.sensor_aid_event.n_available_meas = 0; + + test_msg.sensor_aid_event.sensor_id = 0; + + test_msg.sensor_aid_event.sensor_state = 0; + + test_msg.sensor_aid_event.sensor_type = 0; + + test_msg.sensor_aid_event.time = 326825520; + + sbp_message_send(&sbp_state, SbpMsgSensorAidEvent, 35027, &test_msg, + &dummy_write); + + ck_assert_msg(dummy_wr == sizeof(encoded_frame), + "not enough data was written to dummy_buff"); + ck_assert_msg(memcmp(dummy_buff, encoded_frame, sizeof(encoded_frame)) == 0, + "frame was not encoded properly"); + + while (dummy_rd < dummy_wr) { + ck_assert_msg(sbp_process(&sbp_state, &dummy_read) >= SBP_OK, + "sbp_process threw an error!"); + } + + ck_assert_msg(last_msg.n_callbacks_logged == 1, + "msg_callback: one callback should have been logged"); + ck_assert_msg(last_msg.sender_id == 35027, + "msg_callback: sender_id decoded incorrectly"); + + ck_assert_msg( + sbp_message_cmp(SbpMsgSensorAidEvent, &last_msg.msg, &test_msg) == 0, + "Sent and received messages did not compare equal"); + + ck_assert_msg(last_msg.msg.sensor_aid_event.flags == 0, + "incorrect value for last_msg.msg.sensor_aid_event.flags, " + "expected 0, is %d", + last_msg.msg.sensor_aid_event.flags); + + ck_assert_msg( + last_msg.msg.sensor_aid_event.n_accepted_meas == 0, + "incorrect value for last_msg.msg.sensor_aid_event.n_accepted_meas, " + "expected 0, is %d", + last_msg.msg.sensor_aid_event.n_accepted_meas); + + ck_assert_msg( + last_msg.msg.sensor_aid_event.n_attempted_meas == 0, + "incorrect value for last_msg.msg.sensor_aid_event.n_attempted_meas, " + "expected 0, is %d", + last_msg.msg.sensor_aid_event.n_attempted_meas); + + ck_assert_msg( + last_msg.msg.sensor_aid_event.n_available_meas == 0, + "incorrect value for last_msg.msg.sensor_aid_event.n_available_meas, " + "expected 0, is %d", + last_msg.msg.sensor_aid_event.n_available_meas); + + ck_assert_msg(last_msg.msg.sensor_aid_event.sensor_id == 0, + "incorrect value for " + "last_msg.msg.sensor_aid_event.sensor_id, expected 0, is %d", + last_msg.msg.sensor_aid_event.sensor_id); + + ck_assert_msg( + last_msg.msg.sensor_aid_event.sensor_state == 0, + "incorrect value for last_msg.msg.sensor_aid_event.sensor_state, " + "expected 0, is %d", + last_msg.msg.sensor_aid_event.sensor_state); + + ck_assert_msg( + last_msg.msg.sensor_aid_event.sensor_type == 0, + "incorrect value for last_msg.msg.sensor_aid_event.sensor_type, " + "expected 0, is %d", + last_msg.msg.sensor_aid_event.sensor_type); + + ck_assert_msg(last_msg.msg.sensor_aid_event.time == 326825520, + "incorrect value for last_msg.msg.sensor_aid_event.time, " + "expected 326825520, is %d", + last_msg.msg.sensor_aid_event.time); + } +} +END_TEST + +Suite *auto_check_sbp_system_MsgSensorAidEvent_suite(void) { + Suite *s = suite_create( + "SBP generated test suite: auto_check_sbp_system_MsgSensorAidEvent"); + TCase *tc_acq = + tcase_create("Automated_Suite_auto_check_sbp_system_MsgSensorAidEvent"); + tcase_add_test(tc_acq, test_auto_check_sbp_system_MsgSensorAidEvent); + suite_add_tcase(s, tc_acq); + return s; +} \ No newline at end of file diff --git a/c/test/check_main.c b/c/test/check_main.c index ee3cc26e7d..f335468b54 100644 --- a/c/test/check_main.c +++ b/c/test/check_main.c @@ -105,6 +105,7 @@ int main(void) { srunner_add_suite(sr, auto_check_sbp_system_MsgHeartbeat_suite()); srunner_add_suite(sr, auto_check_sbp_system_MsgInsStatus_suite()); srunner_add_suite(sr, auto_check_sbp_system_MsgInsUpdates_suite()); + srunner_add_suite(sr, auto_check_sbp_system_MsgSensorAidEvent_suite()); srunner_add_suite(sr, auto_check_sbp_system_MsgStartup_suite()); srunner_add_suite(sr, auto_check_sbp_tracking_MsgMeasurementState_suite()); srunner_add_suite(sr, auto_check_sbp_tracking_MsgTrackingState_suite()); diff --git a/c/test/check_main_legacy.c b/c/test/check_main_legacy.c index 6f43d3354e..c48441f8a7 100644 --- a/c/test/check_main_legacy.c +++ b/c/test/check_main_legacy.c @@ -137,6 +137,7 @@ int main(void) { srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgHeartbeat_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgInsStatus_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgInsUpdates_suite()); + srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgSensorAidEvent_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgStartup_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_tracking_MsgMeasurementState_suite()); diff --git a/c/test/check_suites.h b/c/test/check_suites.h index 0aa246fcc3..990ed28748 100644 --- a/c/test/check_suites.h +++ b/c/test/check_suites.h @@ -95,6 +95,7 @@ Suite* auto_check_sbp_system_MsgGroupMeta_suite(void); Suite* auto_check_sbp_system_MsgHeartbeat_suite(void); Suite* auto_check_sbp_system_MsgInsStatus_suite(void); Suite* auto_check_sbp_system_MsgInsUpdates_suite(void); +Suite* auto_check_sbp_system_MsgSensorAidEvent_suite(void); Suite* auto_check_sbp_system_MsgStartup_suite(void); Suite* auto_check_sbp_tracking_MsgMeasurementState_suite(void); Suite* auto_check_sbp_tracking_MsgTrackingState_suite(void); diff --git a/c/test/check_suites_legacy.h b/c/test/check_suites_legacy.h index 0bdedd4da6..a9a05993df 100644 --- a/c/test/check_suites_legacy.h +++ b/c/test/check_suites_legacy.h @@ -95,6 +95,7 @@ Suite* legacy_auto_check_sbp_system_MsgGroupMeta_suite(void); Suite* legacy_auto_check_sbp_system_MsgHeartbeat_suite(void); Suite* legacy_auto_check_sbp_system_MsgInsStatus_suite(void); Suite* legacy_auto_check_sbp_system_MsgInsUpdates_suite(void); +Suite* legacy_auto_check_sbp_system_MsgSensorAidEvent_suite(void); Suite* legacy_auto_check_sbp_system_MsgStartup_suite(void); Suite* legacy_auto_check_sbp_tracking_MsgMeasurementState_suite(void); Suite* legacy_auto_check_sbp_tracking_MsgTrackingState_suite(void); diff --git a/c/test/cpp/auto_check_sbp_system_MsgSensorAidEvent.cc b/c/test/cpp/auto_check_sbp_system_MsgSensorAidEvent.cc new file mode 100644 index 0000000000..f68cae220a --- /dev/null +++ b/c/test/cpp/auto_check_sbp_system_MsgSensorAidEvent.cc @@ -0,0 +1,129 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +// This file was auto-generated from +// spec/tests/yaml/swiftnav/sbp/system/test_MsgSensorAidEvent.yaml by +// generate.py. Do not modify by hand! + +#include +#include +#include +#include +#include +class Test_auto_check_sbp_system_MsgSensorAidEvent0 + : public ::testing::Test, + public sbp::State, + public sbp::IReader, + public sbp::IWriter, + sbp::MessageHandler { + public: + Test_auto_check_sbp_system_MsgSensorAidEvent0() + : ::testing::Test(), + sbp::State(), + sbp::IReader(), + sbp::IWriter(), + sbp::MessageHandler(this), + last_msg_(), + last_msg_len_(), + last_sender_id_(), + n_callbacks_logged_(), + dummy_wr_(), + dummy_rd_(), + dummy_buff_() { + set_reader(this); + set_writer(this); + } + + s32 read(uint8_t *buf, const uint32_t n) override { + uint32_t real_n = n; + memcpy(buf, dummy_buff_ + dummy_rd_, real_n); + dummy_rd_ += real_n; + return (s32)real_n; + } + + s32 write(const uint8_t *buf, uint32_t n) override { + uint32_t real_n = n; + memcpy(dummy_buff_ + dummy_wr_, buf, real_n); + dummy_wr_ += real_n; + return (s32)real_n; + } + + protected: + void handle_sbp_msg(uint16_t sender_id, + const sbp_msg_sensor_aid_event_t &msg) override { + last_msg_ = msg; + last_sender_id_ = sender_id; + n_callbacks_logged_++; + } + + sbp_msg_sensor_aid_event_t last_msg_; + uint8_t last_msg_len_; + uint16_t last_sender_id_; + size_t n_callbacks_logged_; + uint32_t dummy_wr_; + uint32_t dummy_rd_; + uint8_t dummy_buff_[1024]; +}; + +TEST_F(Test_auto_check_sbp_system_MsgSensorAidEvent0, Test) { + uint8_t encoded_frame[] = { + 85, 9, 255, 211, 136, 15, 48, 246, 122, 19, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 33, 236, + }; + + sbp_msg_sensor_aid_event_t test_msg{}; + test_msg.flags = 0; + test_msg.n_accepted_meas = 0; + test_msg.n_attempted_meas = 0; + test_msg.n_available_meas = 0; + test_msg.sensor_id = 0; + test_msg.sensor_state = 0; + test_msg.sensor_type = 0; + test_msg.time = 326825520; + + EXPECT_EQ(send_message(35027, test_msg), SBP_OK); + + EXPECT_EQ(dummy_wr_, sizeof(encoded_frame)); + EXPECT_EQ(memcmp(dummy_buff_, encoded_frame, sizeof(encoded_frame)), 0); + + while (dummy_rd_ < dummy_wr_) { + process(); + } + + EXPECT_EQ(n_callbacks_logged_, 1); + EXPECT_EQ(last_sender_id_, 35027); + EXPECT_EQ(last_msg_, test_msg); + EXPECT_EQ(last_msg_.flags, 0) + << "incorrect value for last_msg_.flags, expected 0, is " + << last_msg_.flags; + EXPECT_EQ(last_msg_.n_accepted_meas, 0) + << "incorrect value for last_msg_.n_accepted_meas, expected 0, is " + << last_msg_.n_accepted_meas; + EXPECT_EQ(last_msg_.n_attempted_meas, 0) + << "incorrect value for last_msg_.n_attempted_meas, expected 0, is " + << last_msg_.n_attempted_meas; + EXPECT_EQ(last_msg_.n_available_meas, 0) + << "incorrect value for last_msg_.n_available_meas, expected 0, is " + << last_msg_.n_available_meas; + EXPECT_EQ(last_msg_.sensor_id, 0) + << "incorrect value for last_msg_.sensor_id, expected 0, is " + << last_msg_.sensor_id; + EXPECT_EQ(last_msg_.sensor_state, 0) + << "incorrect value for last_msg_.sensor_state, expected 0, is " + << last_msg_.sensor_state; + EXPECT_EQ(last_msg_.sensor_type, 0) + << "incorrect value for last_msg_.sensor_type, expected 0, is " + << last_msg_.sensor_type; + EXPECT_EQ(last_msg_.time, 326825520) + << "incorrect value for last_msg_.time, expected 326825520, is " + << last_msg_.time; +} diff --git a/c/test/legacy/auto_check_sbp_system_MsgSensorAidEvent.c b/c/test/legacy/auto_check_sbp_system_MsgSensorAidEvent.c new file mode 100644 index 0000000000..614b5c274e --- /dev/null +++ b/c/test/legacy/auto_check_sbp_system_MsgSensorAidEvent.c @@ -0,0 +1,237 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +// This file was auto-generated from +// spec/tests/yaml/swiftnav/sbp/system/test_MsgSensorAidEvent.yaml by +// generate.py. Do not modify by hand! + +#include +#include +#include +#include // for debugging +#include // for malloc + +static struct { + u32 n_callbacks_logged; + u16 sender_id; + u8 len; + u8 msg[SBP_MAX_PAYLOAD_LEN]; + void *context; +} last_msg; + +static struct { + u32 n_callbacks_logged; + u16 sender_id; + u16 msg_type; + u8 msg_len; + u8 msg[SBP_MAX_PAYLOAD_LEN]; + u16 frame_len; + u8 frame[SBP_MAX_FRAME_LEN]; + void *context; +} last_frame; + +static u32 dummy_wr = 0; +static u32 dummy_rd = 0; +static u8 dummy_buff[1024]; +static void *last_io_context; + +static int DUMMY_MEMORY_FOR_CALLBACKS = 0xdeadbeef; +static int DUMMY_MEMORY_FOR_IO = 0xdead0000; + +static void dummy_reset() { + dummy_rd = dummy_wr = 0; + memset(dummy_buff, 0, sizeof(dummy_buff)); +} + +static s32 dummy_write(u8 *buff, u32 n, void *context) { + last_io_context = context; + u32 real_n = n; //(dummy_n > n) ? n : dummy_n; + memcpy(dummy_buff + dummy_wr, buff, real_n); + dummy_wr += real_n; + return real_n; +} + +static s32 dummy_read(u8 *buff, u32 n, void *context) { + last_io_context = context; + u32 real_n = n; //(dummy_n > n) ? n : dummy_n; + memcpy(buff, dummy_buff + dummy_rd, real_n); + dummy_rd += real_n; + return real_n; +} + +static void logging_reset() { + memset(&last_msg, 0, sizeof(last_msg)); + memset(&last_frame, 0, sizeof(last_frame)); +} + +static void msg_callback(u16 sender_id, u8 len, u8 msg[], void *context) { + last_msg.n_callbacks_logged++; + last_msg.sender_id = sender_id; + last_msg.len = len; + last_msg.context = context; + memcpy(last_msg.msg, msg, len); +} + +static void frame_callback(u16 sender_id, u16 msg_type, u8 msg_len, u8 msg[], + u16 frame_len, u8 frame[], void *context) { + last_frame.n_callbacks_logged++; + last_frame.sender_id = sender_id; + last_frame.msg_type = msg_type; + last_frame.msg_len = msg_len; + memcpy(last_frame.msg, msg, msg_len); + last_frame.frame_len = frame_len; + memcpy(last_frame.frame, frame, frame_len); + last_frame.context = context; +} + +START_TEST(test_legacy_auto_check_sbp_system_MsgSensorAidEvent) { + static sbp_msg_callbacks_node_t n; + static sbp_msg_callbacks_node_t n2; + + // State of the SBP message parser. + // Must be statically allocated. + sbp_state_t sbp_state; + + // + // Run tests: + // + // Test successful parsing of a message + { + // SBP parser state must be initialized before sbp_process is called. + // We re-initialize before every test so that callbacks for the same message + // types can be + // allocated multiple times across different tests. + sbp_state_init(&sbp_state); + + sbp_state_set_io_context(&sbp_state, &DUMMY_MEMORY_FOR_IO); + + logging_reset(); + + sbp_payload_callback_register(&sbp_state, 0xFF09, &msg_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n); + sbp_frame_callback_register(&sbp_state, 0xFF09, &frame_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n2); + + u8 encoded_frame[] = { + 85, 9, 255, 211, 136, 15, 48, 246, 122, 19, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 33, 236, + }; + + dummy_reset(); + + u8 test_msg_storage[SBP_MAX_PAYLOAD_LEN]; + memset(test_msg_storage, 0, sizeof(test_msg_storage)); + u8 test_msg_len = 0; + msg_sensor_aid_event_t *test_msg = + (msg_sensor_aid_event_t *)test_msg_storage; + test_msg_len = sizeof(*test_msg); + test_msg->flags = 0; + test_msg->n_accepted_meas = 0; + test_msg->n_attempted_meas = 0; + test_msg->n_available_meas = 0; + test_msg->sensor_id = 0; + test_msg->sensor_state = 0; + test_msg->sensor_type = 0; + test_msg->time = 326825520; + sbp_payload_send(&sbp_state, 0xFF09, 35027, test_msg_len, test_msg_storage, + &dummy_write); + + ck_assert_msg( + test_msg_len == sizeof(encoded_frame) - 8, + "Test message has not been generated correctly, or the encoded frame " + "from the spec is badly defined. Check your test spec"); + + ck_assert_msg(dummy_wr == sizeof(encoded_frame), + "not enough data was written to dummy_buff"); + ck_assert_msg(memcmp(dummy_buff, encoded_frame, sizeof(encoded_frame)) == 0, + "frame was not encoded properly"); + + while (dummy_rd < dummy_wr) { + ck_assert_msg(sbp_process(&sbp_state, &dummy_read) >= SBP_OK, + "sbp_process threw an error!"); + } + + ck_assert_msg(last_msg.n_callbacks_logged == 1, + "msg_callback: one callback should have been logged"); + ck_assert_msg(last_msg.sender_id == 35027, + "msg_callback: sender_id decoded incorrectly"); + ck_assert_msg(last_msg.len == sizeof(encoded_frame) - 8, + "msg_callback: len decoded incorrectly"); + ck_assert_msg( + memcmp(last_msg.msg, encoded_frame + 6, sizeof(encoded_frame) - 8) == 0, + "msg_callback: test data decoded incorrectly"); + ck_assert_msg(last_msg.context == &DUMMY_MEMORY_FOR_CALLBACKS, + "frame_callback: context pointer incorrectly passed"); + + ck_assert_msg(last_frame.n_callbacks_logged == 1, + "frame_callback: one callback should have been logged"); + ck_assert_msg(last_frame.sender_id == 35027, + "frame_callback: sender_id decoded incorrectly"); + ck_assert_msg(last_frame.msg_type == 0xFF09, + "frame_callback: msg_type decoded incorrectly"); + ck_assert_msg(last_frame.msg_len == sizeof(encoded_frame) - 8, + "frame_callback: msg_len decoded incorrectly"); + ck_assert_msg(memcmp(last_frame.msg, encoded_frame + 6, + sizeof(encoded_frame) - 8) == 0, + "frame_callback: test data decoded incorrectly"); + ck_assert_msg(last_frame.frame_len == sizeof(encoded_frame), + "frame_callback: frame_len decoded incorrectly"); + ck_assert_msg( + memcmp(last_frame.frame, encoded_frame, sizeof(encoded_frame)) == 0, + "frame_callback: frame decoded incorrectly"); + ck_assert_msg(last_frame.context == &DUMMY_MEMORY_FOR_CALLBACKS, + "frame_callback: context pointer incorrectly passed"); + + // Cast to expected message type - the +6 byte offset is where the payload + // starts + msg_sensor_aid_event_t *check_msg = + (msg_sensor_aid_event_t *)((void *)last_msg.msg); + // Run tests against fields + ck_assert_msg(check_msg != 0, "stub to prevent warnings if msg isn't used"); + ck_assert_msg(check_msg->flags == 0, + "incorrect value for flags, expected 0, is %d", + check_msg->flags); + ck_assert_msg(check_msg->n_accepted_meas == 0, + "incorrect value for n_accepted_meas, expected 0, is %d", + check_msg->n_accepted_meas); + ck_assert_msg(check_msg->n_attempted_meas == 0, + "incorrect value for n_attempted_meas, expected 0, is %d", + check_msg->n_attempted_meas); + ck_assert_msg(check_msg->n_available_meas == 0, + "incorrect value for n_available_meas, expected 0, is %d", + check_msg->n_available_meas); + ck_assert_msg(check_msg->sensor_id == 0, + "incorrect value for sensor_id, expected 0, is %d", + check_msg->sensor_id); + ck_assert_msg(check_msg->sensor_state == 0, + "incorrect value for sensor_state, expected 0, is %d", + check_msg->sensor_state); + ck_assert_msg(check_msg->sensor_type == 0, + "incorrect value for sensor_type, expected 0, is %d", + check_msg->sensor_type); + ck_assert_msg(check_msg->time == 326825520, + "incorrect value for time, expected 326825520, is %d", + check_msg->time); + } +} +END_TEST + +Suite *legacy_auto_check_sbp_system_MsgSensorAidEvent_suite(void) { + Suite *s = suite_create( + "SBP generated test suite: " + "legacy_auto_check_sbp_system_MsgSensorAidEvent"); + TCase *tc_acq = tcase_create( + "Automated_Suite_legacy_auto_check_sbp_system_MsgSensorAidEvent"); + tcase_add_test(tc_acq, test_legacy_auto_check_sbp_system_MsgSensorAidEvent); + suite_add_tcase(s, tc_acq); + return s; +} \ No newline at end of file diff --git a/c/test/legacy/cpp/auto_check_sbp_system_MsgSensorAidEvent.cc b/c/test/legacy/cpp/auto_check_sbp_system_MsgSensorAidEvent.cc new file mode 100644 index 0000000000..8de898d6ac --- /dev/null +++ b/c/test/legacy/cpp/auto_check_sbp_system_MsgSensorAidEvent.cc @@ -0,0 +1,134 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +// This file was auto-generated from +// spec/tests/yaml/swiftnav/sbp/system/test_MsgSensorAidEvent.yaml by +// generate.py. Do not modify by hand! + +#include +#include +#include +#include +class Test_legacy_auto_check_sbp_system_MsgSensorAidEvent0 + : public ::testing::Test, + public sbp::State, + public sbp::IReader, + public sbp::IWriter, + sbp::PayloadHandler { + public: + Test_legacy_auto_check_sbp_system_MsgSensorAidEvent0() + : ::testing::Test(), + sbp::State(), + sbp::IReader(), + sbp::IWriter(), + sbp::PayloadHandler(this), + last_msg_storage_(), + last_msg_( + reinterpret_cast(last_msg_storage_)), + last_msg_len_(), + last_sender_id_(), + n_callbacks_logged_(), + dummy_wr_(), + dummy_rd_(), + dummy_buff_() { + set_reader(this); + set_writer(this); + } + + s32 read(uint8_t *buf, const uint32_t n) override { + uint32_t real_n = n; + memcpy(buf, dummy_buff_ + dummy_rd_, real_n); + dummy_rd_ += real_n; + return (s32)real_n; + } + + s32 write(const uint8_t *buf, uint32_t n) override { + uint32_t real_n = n; + memcpy(dummy_buff_ + dummy_wr_, buf, real_n); + dummy_wr_ += real_n; + return (s32)real_n; + } + + protected: + void handle_sbp_msg(uint16_t sender_id, uint8_t message_length, + const msg_sensor_aid_event_t &msg) override { + memcpy(last_msg_storage_, &msg, message_length); + last_msg_len_ = message_length; + last_sender_id_ = sender_id; + n_callbacks_logged_++; + } + + uint8_t last_msg_storage_[SBP_MAX_PAYLOAD_LEN]; + msg_sensor_aid_event_t *last_msg_; + uint8_t last_msg_len_; + uint16_t last_sender_id_; + size_t n_callbacks_logged_; + uint32_t dummy_wr_; + uint32_t dummy_rd_; + uint8_t dummy_buff_[1024]; +}; + +TEST_F(Test_legacy_auto_check_sbp_system_MsgSensorAidEvent0, Test) { + uint8_t encoded_frame[] = { + 85, 9, 255, 211, 136, 15, 48, 246, 122, 19, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 33, 236, + }; + + uint8_t test_msg_storage[SBP_MAX_PAYLOAD_LEN]{}; + uint8_t test_msg_len = 0; + msg_sensor_aid_event_t *test_msg = (msg_sensor_aid_event_t *)test_msg_storage; + test_msg_len = (uint8_t)sizeof(*test_msg); + test_msg->flags = 0; + test_msg->n_accepted_meas = 0; + test_msg->n_attempted_meas = 0; + test_msg->n_available_meas = 0; + test_msg->sensor_id = 0; + test_msg->sensor_state = 0; + test_msg->sensor_type = 0; + test_msg->time = 326825520; + + EXPECT_EQ(send_message(0xFF09, 35027, test_msg_len, test_msg_storage), + SBP_OK); + + EXPECT_EQ(dummy_wr_, sizeof(encoded_frame)); + EXPECT_EQ(memcmp(dummy_buff_, encoded_frame, sizeof(encoded_frame)), 0); + + while (dummy_rd_ < dummy_wr_) { + process(); + } + + EXPECT_EQ(n_callbacks_logged_, 1); + EXPECT_EQ(last_sender_id_, 35027); + EXPECT_EQ(last_msg_len_, test_msg_len); + EXPECT_EQ(last_msg_->flags, 0) + << "incorrect value for flags, expected 0, is " << last_msg_->flags; + EXPECT_EQ(last_msg_->n_accepted_meas, 0) + << "incorrect value for n_accepted_meas, expected 0, is " + << last_msg_->n_accepted_meas; + EXPECT_EQ(last_msg_->n_attempted_meas, 0) + << "incorrect value for n_attempted_meas, expected 0, is " + << last_msg_->n_attempted_meas; + EXPECT_EQ(last_msg_->n_available_meas, 0) + << "incorrect value for n_available_meas, expected 0, is " + << last_msg_->n_available_meas; + EXPECT_EQ(last_msg_->sensor_id, 0) + << "incorrect value for sensor_id, expected 0, is " + << last_msg_->sensor_id; + EXPECT_EQ(last_msg_->sensor_state, 0) + << "incorrect value for sensor_state, expected 0, is " + << last_msg_->sensor_state; + EXPECT_EQ(last_msg_->sensor_type, 0) + << "incorrect value for sensor_type, expected 0, is " + << last_msg_->sensor_type; + EXPECT_EQ(last_msg_->time, 326825520) + << "incorrect value for time, expected 326825520, is " << last_msg_->time; +} diff --git a/docs/sbp.pdf b/docs/sbp.pdf index dd4271c631..fb8df55b8e 100644 Binary files a/docs/sbp.pdf and b/docs/sbp.pdf differ diff --git a/haskell/src/SwiftNav/SBP/Msg.hs b/haskell/src/SwiftNav/SBP/Msg.hs index 7b6795d5ee..ab0a283a9f 100644 --- a/haskell/src/SwiftNav/SBP/Msg.hs +++ b/haskell/src/SwiftNav/SBP/Msg.hs @@ -196,6 +196,7 @@ data SBPMsg = | SBPMsgResetDep MsgResetDep Msg | SBPMsgResetFilters MsgResetFilters Msg | SBPMsgSbasRaw MsgSbasRaw Msg + | SBPMsgSensorAidEvent MsgSensorAidEvent Msg | SBPMsgSetTime MsgSetTime Msg | SBPMsgSettingsReadByIndexDone MsgSettingsReadByIndexDone Msg | SBPMsgSettingsReadByIndexReq MsgSettingsReadByIndexReq Msg @@ -412,6 +413,7 @@ instance Binary SBPMsg where | _msgSBPType == msgResetDep = SBPMsgResetDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSbasRaw = SBPMsgSbasRaw (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSensorAidEvent = SBPMsgSensorAidEvent (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSetTime = SBPMsgSetTime (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -620,6 +622,7 @@ instance Binary SBPMsg where encoder (SBPMsgResetDep _ m) = put m encoder (SBPMsgResetFilters _ m) = put m encoder (SBPMsgSbasRaw _ m) = put m + encoder (SBPMsgSensorAidEvent _ m) = put m encoder (SBPMsgSetTime _ m) = put m encoder (SBPMsgSettingsReadByIndexDone _ m) = put m encoder (SBPMsgSettingsReadByIndexReq _ m) = put m @@ -832,6 +835,7 @@ instance FromJSON SBPMsg where | msgType == msgResetDep = SBPMsgResetDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgResetFilters = SBPMsgResetFilters <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSbasRaw = SBPMsgSbasRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSensorAidEvent = SBPMsgSensorAidEvent <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSetTime = SBPMsgSetTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -1045,6 +1049,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgResetDep _ m) = toJSON m toJSON (SBPMsgResetFilters n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSbasRaw n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSensorAidEvent n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSetTime _ m) = toJSON m toJSON (SBPMsgSettingsReadByIndexDone _ m) = toJSON m toJSON (SBPMsgSettingsReadByIndexReq n m) = toJSON n <<>> toJSON m @@ -1252,6 +1257,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgResetDep n m) = SBPMsgResetDep n <$> f m msg f (SBPMsgResetFilters n m) = SBPMsgResetFilters n <$> f m msg f (SBPMsgSbasRaw n m) = SBPMsgSbasRaw n <$> f m + msg f (SBPMsgSensorAidEvent n m) = SBPMsgSensorAidEvent n <$> f m msg f (SBPMsgSetTime n m) = SBPMsgSetTime n <$> f m msg f (SBPMsgSettingsReadByIndexDone n m) = SBPMsgSettingsReadByIndexDone n <$> f m msg f (SBPMsgSettingsReadByIndexReq n m) = SBPMsgSettingsReadByIndexReq n <$> f m diff --git a/haskell/src/SwiftNav/SBP/System.hs b/haskell/src/SwiftNav/SBP/System.hs index 8ec8a746f8..bf54bb1595 100644 --- a/haskell/src/SwiftNav/SBP/System.hs +++ b/haskell/src/SwiftNav/SBP/System.hs @@ -417,6 +417,60 @@ $(makeSBP 'msgPpsTime ''MsgPpsTime) $(makeJSON "_msgPpsTime_" ''MsgPpsTime) $(makeLenses ''MsgPpsTime) +msgSensorAidEvent :: Word16 +msgSensorAidEvent = 0xFF09 + +-- | SBP class for message MSG_SENSOR_AID_EVENT (0xFF09). +-- +-- This diagnostic message contains state and update status information for +-- all sensors that are being used by the fusion engine. This message will be +-- generated asynchronously to the solution messages and will be emitted +-- anytime a sensor update is being processed. +data MsgSensorAidEvent = MsgSensorAidEvent + { _msgSensorAidEvent_time :: !Word32 + -- ^ Update timestamp in milliseconds. + , _msgSensorAidEvent_sensor_type :: !Word8 + -- ^ Sensor type + , _msgSensorAidEvent_sensor_id :: !Word16 + -- ^ Sensor identifier + , _msgSensorAidEvent_sensor_state :: !Word8 + -- ^ Reserved for future use + , _msgSensorAidEvent_n_available_meas :: !Word8 + -- ^ Number of available measurements in this epoch + , _msgSensorAidEvent_n_attempted_meas :: !Word8 + -- ^ Number of attempted measurements in this epoch + , _msgSensorAidEvent_n_accepted_meas :: !Word8 + -- ^ Number of accepted measurements in this epoch + , _msgSensorAidEvent_flags :: !Word32 + -- ^ Reserved for future use + } deriving ( Show, Read, Eq ) + +instance Binary MsgSensorAidEvent where + get = do + _msgSensorAidEvent_time <- getWord32le + _msgSensorAidEvent_sensor_type <- getWord8 + _msgSensorAidEvent_sensor_id <- getWord16le + _msgSensorAidEvent_sensor_state <- getWord8 + _msgSensorAidEvent_n_available_meas <- getWord8 + _msgSensorAidEvent_n_attempted_meas <- getWord8 + _msgSensorAidEvent_n_accepted_meas <- getWord8 + _msgSensorAidEvent_flags <- getWord32le + pure MsgSensorAidEvent {..} + + put MsgSensorAidEvent {..} = do + putWord32le _msgSensorAidEvent_time + putWord8 _msgSensorAidEvent_sensor_type + putWord16le _msgSensorAidEvent_sensor_id + putWord8 _msgSensorAidEvent_sensor_state + putWord8 _msgSensorAidEvent_n_available_meas + putWord8 _msgSensorAidEvent_n_attempted_meas + putWord8 _msgSensorAidEvent_n_accepted_meas + putWord32le _msgSensorAidEvent_flags + +$(makeSBP 'msgSensorAidEvent ''MsgSensorAidEvent) +$(makeJSON "_msgSensorAidEvent_" ''MsgSensorAidEvent) +$(makeLenses ''MsgSensorAidEvent) + msgGroupMeta :: Word16 msgGroupMeta = 0xFF0A diff --git a/java/src/com/swiftnav/sbp/client/MessageTable.java b/java/src/com/swiftnav/sbp/client/MessageTable.java index 4de10a5261..0605c90109 100644 --- a/java/src/com/swiftnav/sbp/client/MessageTable.java +++ b/java/src/com/swiftnav/sbp/client/MessageTable.java @@ -202,6 +202,7 @@ import com.swiftnav.sbp.system.MsgInsStatus; import com.swiftnav.sbp.system.MsgInsUpdates; import com.swiftnav.sbp.system.MsgPpsTime; +import com.swiftnav.sbp.system.MsgSensorAidEvent; import com.swiftnav.sbp.system.MsgStartup; import com.swiftnav.sbp.system.MsgStatusReport; import com.swiftnav.sbp.tracking.MsgMeasurementState; @@ -600,6 +601,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException { return new MsgGnssTimeOffset(msg); case MsgPpsTime.TYPE: return new MsgPpsTime(msg); + case MsgSensorAidEvent.TYPE: + return new MsgSensorAidEvent(msg); case MsgGroupMeta.TYPE: return new MsgGroupMeta(msg); case MsgTrackingStateDetailedDepA.TYPE: diff --git a/java/src/com/swiftnav/sbp/system/MsgSensorAidEvent.java b/java/src/com/swiftnav/sbp/system/MsgSensorAidEvent.java new file mode 100644 index 0000000000..e8a64fc345 --- /dev/null +++ b/java/src/com/swiftnav/sbp/system/MsgSensorAidEvent.java @@ -0,0 +1,109 @@ +/* Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ +package com.swiftnav.sbp.system; + +// This file was auto-generated from yaml/swiftnav/sbp/system.yaml by generate.py. +// Do not modify by hand! + + +import com.swiftnav.sbp.SBPBinaryException; +import com.swiftnav.sbp.SBPMessage; +import org.json.JSONObject; + +/** + * SBP class for message MSG_SENSOR_AID_EVENT (0xFF09). + * + *

You can have MSG_SENSOR_AID_EVENT inherent its fields directly from an inherited SBP object, + * or construct it inline using a dict of its fields. + * + *

This diagnostic message contains state and update status information for all sensors that are + * being used by the fusion engine. This message will be generated asynchronously to the solution + * messages and will be emitted anytime a sensor update is being processed. + */ +public class MsgSensorAidEvent extends SBPMessage { + public static final int TYPE = 0xFF09; + + /** Update timestamp in milliseconds. */ + public long time; + + /** Sensor type */ + public int sensor_type; + + /** Sensor identifier */ + public int sensor_id; + + /** Reserved for future use */ + public int sensor_state; + + /** Number of available measurements in this epoch */ + public int n_available_meas; + + /** Number of attempted measurements in this epoch */ + public int n_attempted_meas; + + /** Number of accepted measurements in this epoch */ + public int n_accepted_meas; + + /** Reserved for future use */ + public long flags; + + public MsgSensorAidEvent(int sender) { + super(sender, TYPE); + } + + public MsgSensorAidEvent() { + super(TYPE); + } + + public MsgSensorAidEvent(SBPMessage msg) throws SBPBinaryException { + super(msg); + assert msg.type == TYPE; + } + + @Override + protected void parse(Parser parser) throws SBPBinaryException { + /* Parse fields from binary */ + time = parser.getU32(); + sensor_type = parser.getU8(); + sensor_id = parser.getU16(); + sensor_state = parser.getU8(); + n_available_meas = parser.getU8(); + n_attempted_meas = parser.getU8(); + n_accepted_meas = parser.getU8(); + flags = parser.getU32(); + } + + @Override + protected void build(Builder builder) { + builder.putU32(time); + builder.putU8(sensor_type); + builder.putU16(sensor_id); + builder.putU8(sensor_state); + builder.putU8(n_available_meas); + builder.putU8(n_attempted_meas); + builder.putU8(n_accepted_meas); + builder.putU32(flags); + } + + @Override + public JSONObject toJSON() { + JSONObject obj = super.toJSON(); + obj.put("time", time); + obj.put("sensor_type", sensor_type); + obj.put("sensor_id", sensor_id); + obj.put("sensor_state", sensor_state); + obj.put("n_available_meas", n_available_meas); + obj.put("n_attempted_meas", n_attempted_meas); + obj.put("n_accepted_meas", n_accepted_meas); + obj.put("flags", flags); + return obj; + } +} diff --git a/java/test/auto_check_sbp_system_MsgSensorAidEventTest.java b/java/test/auto_check_sbp_system_MsgSensorAidEventTest.java new file mode 100644 index 0000000000..f24add384b --- /dev/null +++ b/java/test/auto_check_sbp_system_MsgSensorAidEventTest.java @@ -0,0 +1,133 @@ +/* Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ +package com.swiftnav.sbp.test; + +// This file was auto-generated from spec/tests/yaml/swiftnav/sbp/system/test_MsgSensorAidEvent.yaml +// by generate.py. Do not modify by hand! + + +import com.swiftnav.sbp.SBPMessage; +import com.swiftnav.sbp.system.MsgSensorAidEvent; +import java.math.BigInteger; +import org.json.JSONObject; +import org.junit.Test; + +public class auto_check_sbp_system_MsgSensorAidEventTest { + + public static boolean debug = false; + private static final double DELTA = 1e-15; + + @Test + public void test1() throws Throwable { + if (debug) System.out.format("%n%s%n", "auto_check_sbp_system_MsgSensorAidEventTest.test1"); + byte[] payload = + new byte[] { + (byte) 48, + (byte) 246, + (byte) 122, + (byte) 19, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + }; + SBPMessage sbp = new SBPMessage(0x88D3, 0xFF09, payload); + MsgSensorAidEvent msg = new MsgSensorAidEvent(sbp); + JSONObject json = msg.toJSON(); + Number value; + Number expected; + value = msg.flags; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.flags + "' != '" + 0 + "'", value.equals(BigInteger.valueOf(0L))); + } else { + value = value.longValue(); + expected = 0L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.n_accepted_meas; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.n_accepted_meas + "' != '" + 0 + "'", + value.equals(BigInteger.valueOf(0L))); + } else { + value = value.longValue(); + expected = 0L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.n_attempted_meas; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.n_attempted_meas + "' != '" + 0 + "'", + value.equals(BigInteger.valueOf(0L))); + } else { + value = value.longValue(); + expected = 0L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.n_available_meas; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.n_available_meas + "' != '" + 0 + "'", + value.equals(BigInteger.valueOf(0L))); + } else { + value = value.longValue(); + expected = 0L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.sensor_id; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.sensor_id + "' != '" + 0 + "'", value.equals(BigInteger.valueOf(0L))); + } else { + value = value.longValue(); + expected = 0L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.sensor_state; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.sensor_state + "' != '" + 0 + "'", + value.equals(BigInteger.valueOf(0L))); + } else { + value = value.longValue(); + expected = 0L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.sensor_type; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.sensor_type + "' != '" + 0 + "'", + value.equals(BigInteger.valueOf(0L))); + } else { + value = value.longValue(); + expected = 0L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.time; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.time + "' != '" + 326825520 + "'", + value.equals(BigInteger.valueOf(326825520L))); + } else { + value = value.longValue(); + expected = 326825520L; + org.junit.Assert.assertEquals(value, expected); + } + } +} diff --git a/javascript/sbp.bundle.js b/javascript/sbp.bundle.js index fa6a514685..c66b446fac 100644 --- a/javascript/sbp.bundle.js +++ b/javascript/sbp.bundle.js @@ -12,4 +12,4 @@ var p=r(25),o=r(26),i=r(16);function s(){return a.TYPED_ARRAY_SUPPORT?2147483647 * @author Feross Aboukhadijeh * @license MIT */ -function p(e,t){if(e===t)return 0;for(var r=e.length,p=t.length,o=0,i=Math.min(r,p);o=0;l--)if(c[l]!==u[l])return!1;for(l=c.length-1;l>=0;l--)if(a=c[l],!g(e[a],t[a],r,p))return!1;return!0}(e,t,r,s))}return r?e===t:e==t}function w(e){return"[object Arguments]"==Object.prototype.toString.call(e)}function E(e,t){if(!e||!t)return!1;if("[object RegExp]"==Object.prototype.toString.call(t))return t.test(e);try{if(e instanceof t)return!0}catch(e){}return!Error.isPrototypeOf(t)&&!0===t.call({},e)}function m(e,t,r,p){var o;if("function"!=typeof t)throw new TypeError('"block" argument must be a function');"string"==typeof r&&(p=r,r=null),o=function(e){var t;try{e()}catch(e){t=e}return t}(t),p=(r&&r.name?" 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p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_NAP_DEVICE_DNA_RESP",l.prototype.msg_type=221,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").array("dna",{length:8,type:"uint8"}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["dna","array","writeUInt8",function(){return 1},8]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",c.prototype.msg_type=176,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").array("handshake",{type:"uint8",readUntil:"eof"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["handshake","array","writeUInt8",function(){return 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p.call(this,e),this.messageType="MSG_STM_FLASH_LOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_STM_FLASH_LOCK_SECTOR",c.prototype.msg_type=227,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("sector"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["sector","writeUInt32LE",4]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_STM_FLASH_UNLOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_STM_FLASH_UNLOCK_SECTOR",u.prototype.msg_type=228,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("sector"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["sector","writeUInt32LE",4]);var y=function(e,t){return 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p.call(this,e),this.messageType="MSG_M25_FLASH_WRITE_STATUS",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_M25_FLASH_WRITE_STATUS",f.prototype.msg_type=243,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").array("status",{length:1,type:"uint8"}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["status","array","writeUInt8",function(){return 1},1]),e.exports={230:i,MsgFlashProgram:i,224:s,MsgFlashDone:s,231:n,MsgFlashReadReq:n,225:a,MsgFlashReadResp:a,226:l,MsgFlashErase:l,227:c,MsgStmFlashLockSector:c,228:u,MsgStmFlashUnlockSector:u,232:y,MsgStmUniqueIdReq:y,229:h,MsgStmUniqueIdResp:h,243:f,MsgM25FlashWriteStatus:f}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_IMU_RAW",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_IMU_RAW",i.prototype.msg_type=2304,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").uint8("tow_f").int16("acc_x").int16("acc_y").int16("acc_z").int16("gyr_x").int16("gyr_y").int16("gyr_z"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["tow_f","writeUInt8",1]),i.prototype.fieldSpec.push(["acc_x","writeInt16LE",2]),i.prototype.fieldSpec.push(["acc_y","writeInt16LE",2]),i.prototype.fieldSpec.push(["acc_z","writeInt16LE",2]),i.prototype.fieldSpec.push(["gyr_x","writeInt16LE",2]),i.prototype.fieldSpec.push(["gyr_y","writeInt16LE",2]),i.prototype.fieldSpec.push(["gyr_z","writeInt16LE",2]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_IMU_AUX",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_IMU_AUX",s.prototype.msg_type=2305,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("imu_type").int16("temp").uint8("imu_conf"),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["imu_type","writeUInt8",1]),s.prototype.fieldSpec.push(["temp","writeInt16LE",2]),s.prototype.fieldSpec.push(["imu_conf","writeUInt8",1]),e.exports={2304:i,MsgImuRaw:i,2305:s,MsgImuAux:s}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_LINUX_CPU_STATE_DEP_A",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_CPU_STATE_DEP_A",i.prototype.msg_type=32512,i.prototype.constructor=i,i.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_COUNT",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_FD_COUNT",u.prototype.msg_type=32518,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint8("index").uint16("pid").uint16("fd_count").string("cmdline",{greedy:!0}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["index","writeUInt8",1]),u.prototype.fieldSpec.push(["pid","writeUInt16LE",2]),u.prototype.fieldSpec.push(["fd_count","writeUInt16LE",2]),u.prototype.fieldSpec.push(["cmdline","string",null]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_SUMMARY",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_FD_SUMMARY",y.prototype.msg_type=32519,y.prototype.constructor=y,y.prototype.parser=(new 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_=function(e,t){return p.call(this,e),this.messageType="MSG_BASELINE_ECEF",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="MSG_BASELINE_ECEF",_.prototype.msg_type=523,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").uint32("tow").int32("x").int32("y").int32("z").uint16("accuracy").uint8("n_sats").uint8("flags"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),_.prototype.fieldSpec.push(["x","writeInt32LE",4]),_.prototype.fieldSpec.push(["y","writeInt32LE",4]),_.prototype.fieldSpec.push(["z","writeInt32LE",4]),_.prototype.fieldSpec.push(["accuracy","writeUInt16LE",2]),_.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),_.prototype.fieldSpec.push(["flags","writeUInt8",1]);var S=function(e,t){return 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p.call(this,e),this.messageType="MSG_VEL_ECEF",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.prototype)).messageType="MSG_VEL_ECEF",g.prototype.msg_type=525,g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").uint32("tow").int32("x").int32("y").int32("z").uint16("accuracy").uint8("n_sats").uint8("flags"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),g.prototype.fieldSpec.push(["x","writeInt32LE",4]),g.prototype.fieldSpec.push(["y","writeInt32LE",4]),g.prototype.fieldSpec.push(["z","writeInt32LE",4]),g.prototype.fieldSpec.push(["accuracy","writeUInt16LE",2]),g.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),g.prototype.fieldSpec.push(["flags","writeUInt8",1]);var w=function(e,t){return p.call(this,e),this.messageType="MSG_VEL_ECEF_COV",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="MSG_VEL_ECEF_COV",w.prototype.msg_type=533,w.prototype.constructor=w,w.prototype.parser=(new 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b=function(e,t){return p.call(this,e),this.messageType="MSG_EPHEMERIS_GPS_DEP_F",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_EPHEMERIS_GPS_DEP_F",b.prototype.msg_type=134,b.prototype.constructor=b,b.prototype.parser=(new 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v=function(e,t){return p.call(this,e),this.messageType="MSG_EPHEMERIS_GPS",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_EPHEMERIS_GPS",v.prototype.msg_type=138,v.prototype.constructor=v,v.prototype.parser=(new 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L=function(e,t){return p.call(this,e),this.messageType="MSG_EPHEMERIS_QZSS",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_EPHEMERIS_QZSS",L.prototype.msg_type=142,L.prototype.constructor=L,L.prototype.parser=(new 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this.fields.array.length},null]),e.exports={ObservationHeader:u,Doppler:y,PackedObsContent:h,PackedOsrContent:f,74:d,MsgObs:d,68:_,MsgBasePosLlh:_,72:S,MsgBasePosEcef:S,EphemerisCommonContent:g,EphemerisCommonContentDepB:w,EphemerisCommonContentDepA:E,129:m,MsgEphemerisGpsDepE:m,134:b,MsgEphemerisGpsDepF:b,138:v,MsgEphemerisGps:v,142:L,MsgEphemerisQzss:L,137:I,MsgEphemerisBds:I,149:T,MsgEphemerisGalDepA:T,141:U,MsgEphemerisGal:U,130:M,MsgEphemerisSbasDepA:M,131:D,MsgEphemerisGloDepA:D,132:O,MsgEphemerisSbasDepB:O,140:G,MsgEphemerisSbas:G,133:A,MsgEphemerisGloDepB:A,135:C,MsgEphemerisGloDepC:C,136:R,MsgEphemerisGloDepD:R,139:P,MsgEphemerisGlo:P,128:N,MsgEphemerisDepD:N,26:j,MsgEphemerisDepA:j,70:x,MsgEphemerisDepB:x,71:k,MsgEphemerisDepC:k,ObservationHeaderDep:F,CarrierPhaseDepA:B,PackedObsContentDepA:q,PackedObsContentDepB:z,PackedObsContentDepC:V,69:H,MsgObsDepA:H,67:Y,MsgObsDepB:Y,73:W,MsgObsDepC:W,144:Q,MsgIono:Q,145:K,MsgSvConfigurationGpsDep:K,GnssCapb:X,150:J,MsgGnssCapb:J,146:$,MsgGroupDelayDepA:$,147:Z,MsgGroupDelayDepB:Z,148:ee,MsgGroupDelay:ee,AlmanacCommonContent:te,AlmanacCommonContentDep:re,112:pe,MsgAlmanacGpsDep:pe,114:oe,MsgAlmanacGps:oe,113:ie,MsgAlmanacGloDep:ie,115:se,MsgAlmanacGlo:se,117:ne,MsgGloBiases:ne,SvAzEl:ae,151:le,MsgSvAzEl:le,1600:ce,MsgOsr:ce}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_BASELINE_HEADING",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_BASELINE_HEADING",i.prototype.msg_type=527,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").uint32("heading").uint8("n_sats").uint8("flags"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["heading","writeUInt32LE",4]),i.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_ORIENT_QUAT",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_ORIENT_QUAT",s.prototype.msg_type=544,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint32("tow").int32("w").int32("x").int32("y").int32("z").floatle("w_accuracy").floatle("x_accuracy").floatle("y_accuracy").floatle("z_accuracy").uint8("flags"),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),s.prototype.fieldSpec.push(["w","writeInt32LE",4]),s.prototype.fieldSpec.push(["x","writeInt32LE",4]),s.prototype.fieldSpec.push(["y","writeInt32LE",4]),s.prototype.fieldSpec.push(["z","writeInt32LE",4]),s.prototype.fieldSpec.push(["w_accuracy","writeFloatLE",4]),s.prototype.fieldSpec.push(["x_accuracy","writeFloatLE",4]),s.prototype.fieldSpec.push(["y_accuracy","writeFloatLE",4]),s.prototype.fieldSpec.push(["z_accuracy","writeFloatLE",4]),s.prototype.fieldSpec.push(["flags","writeUInt8",1]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_ORIENT_EULER",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_ORIENT_EULER",n.prototype.msg_type=545,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint32("tow").int32("roll").int32("pitch").int32("yaw").floatle("roll_accuracy").floatle("pitch_accuracy").floatle("yaw_accuracy").uint8("flags"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),n.prototype.fieldSpec.push(["roll","writeInt32LE",4]),n.prototype.fieldSpec.push(["pitch","writeInt32LE",4]),n.prototype.fieldSpec.push(["yaw","writeInt32LE",4]),n.prototype.fieldSpec.push(["roll_accuracy","writeFloatLE",4]),n.prototype.fieldSpec.push(["pitch_accuracy","writeFloatLE",4]),n.prototype.fieldSpec.push(["yaw_accuracy","writeFloatLE",4]),n.prototype.fieldSpec.push(["flags","writeUInt8",1]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_ANGULAR_RATE",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_ANGULAR_RATE",a.prototype.msg_type=546,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint32("tow").int32("x").int32("y").int32("z").uint8("flags"),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),a.prototype.fieldSpec.push(["x","writeInt32LE",4]),a.prototype.fieldSpec.push(["y","writeInt32LE",4]),a.prototype.fieldSpec.push(["z","writeInt32LE",4]),a.prototype.fieldSpec.push(["flags","writeUInt8",1]),e.exports={527:i,MsgBaselineHeading:i,544:s,MsgOrientQuat:s,545:n,MsgOrientEuler:n,546:a,MsgAngularRate:a}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).CarrierPhase,r(0).GnssSignal),s=r(0).GnssSignalDep,n=r(0).GPSTime,a=r(0).GPSTimeDep,l=(r(0).GPSTimeSec,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_ALMANAC",this.fields=t||this.parser.parse(e.payload),this});(l.prototype=Object.create(p.prototype)).messageType="MSG_ALMANAC",l.prototype.msg_type=105,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little"),l.prototype.fieldSpec=[];var c=function(e,t){return p.call(this,e),this.messageType="MSG_SET_TIME",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_SET_TIME",c.prototype.msg_type=104,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little"),c.prototype.fieldSpec=[];var u=function(e,t){return p.call(this,e),this.messageType="MSG_RESET",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_RESET",u.prototype.msg_type=182,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("flags"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_RESET_DEP",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_RESET_DEP",y.prototype.msg_type=178,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little"),y.prototype.fieldSpec=[];var h=function(e,t){return p.call(this,e),this.messageType="MSG_CW_RESULTS",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_CW_RESULTS",h.prototype.msg_type=192,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little"),h.prototype.fieldSpec=[];var f=function(e,t){return p.call(this,e),this.messageType="MSG_CW_START",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_CW_START",f.prototype.msg_type=193,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little"),f.prototype.fieldSpec=[];var d=function(e,t){return p.call(this,e),this.messageType="MSG_RESET_FILTERS",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="MSG_RESET_FILTERS",d.prototype.msg_type=34,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").uint8("filter"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["filter","writeUInt8",1]);var _=function(e,t){return p.call(this,e),this.messageType="MSG_INIT_BASE_DEP",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="MSG_INIT_BASE_DEP",_.prototype.msg_type=35,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little"),_.prototype.fieldSpec=[];var S=function(e,t){return p.call(this,e),this.messageType="MSG_THREAD_STATE",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_THREAD_STATE",S.prototype.msg_type=23,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").string("name",{length:20}).uint16("cpu").uint32("stack_free"),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["name","string",20]),S.prototype.fieldSpec.push(["cpu","writeUInt16LE",2]),S.prototype.fieldSpec.push(["stack_free","writeUInt32LE",4]);var g=function(e,t){return p.call(this,e),this.messageType="UARTChannel",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.prototype)).messageType="UARTChannel",g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").floatle("tx_throughput").floatle("rx_throughput").uint16("crc_error_count").uint16("io_error_count").uint8("tx_buffer_level").uint8("rx_buffer_level"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["tx_throughput","writeFloatLE",4]),g.prototype.fieldSpec.push(["rx_throughput","writeFloatLE",4]),g.prototype.fieldSpec.push(["crc_error_count","writeUInt16LE",2]),g.prototype.fieldSpec.push(["io_error_count","writeUInt16LE",2]),g.prototype.fieldSpec.push(["tx_buffer_level","writeUInt8",1]),g.prototype.fieldSpec.push(["rx_buffer_level","writeUInt8",1]);var w=function(e,t){return p.call(this,e),this.messageType="Period",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="Period",w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").int32("avg").int32("pmin").int32("pmax").int32("current"),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["avg","writeInt32LE",4]),w.prototype.fieldSpec.push(["pmin","writeInt32LE",4]),w.prototype.fieldSpec.push(["pmax","writeInt32LE",4]),w.prototype.fieldSpec.push(["current","writeInt32LE",4]);var E=function(e,t){return p.call(this,e),this.messageType="Latency",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="Latency",E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").int32("avg").int32("lmin").int32("lmax").int32("current"),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["avg","writeInt32LE",4]),E.prototype.fieldSpec.push(["lmin","writeInt32LE",4]),E.prototype.fieldSpec.push(["lmax","writeInt32LE",4]),E.prototype.fieldSpec.push(["current","writeInt32LE",4]);var m=function(e,t){return p.call(this,e),this.messageType="MSG_UART_STATE",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_UART_STATE",m.prototype.msg_type=29,m.prototype.constructor=m,m.prototype.parser=(new o).endianess("little").nest("uart_a",{type:g.prototype.parser}).nest("uart_b",{type:g.prototype.parser}).nest("uart_ftdi",{type:g.prototype.parser}).nest("latency",{type:E.prototype.parser}).nest("obs_period",{type:w.prototype.parser}),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["uart_a",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["uart_b",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["uart_ftdi",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["latency",E.prototype.fieldSpec]),m.prototype.fieldSpec.push(["obs_period",w.prototype.fieldSpec]);var b=function(e,t){return p.call(this,e),this.messageType="MSG_UART_STATE_DEPA",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_UART_STATE_DEPA",b.prototype.msg_type=24,b.prototype.constructor=b,b.prototype.parser=(new o).endianess("little").nest("uart_a",{type:g.prototype.parser}).nest("uart_b",{type:g.prototype.parser}).nest("uart_ftdi",{type:g.prototype.parser}).nest("latency",{type:E.prototype.parser}),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["uart_a",g.prototype.fieldSpec]),b.prototype.fieldSpec.push(["uart_b",g.prototype.fieldSpec]),b.prototype.fieldSpec.push(["uart_ftdi",g.prototype.fieldSpec]),b.prototype.fieldSpec.push(["latency",E.prototype.fieldSpec]);var v=function(e,t){return p.call(this,e),this.messageType="MSG_IAR_STATE",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_IAR_STATE",v.prototype.msg_type=25,v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").uint32("num_hyps"),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["num_hyps","writeUInt32LE",4]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE",L.prototype.msg_type=43,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:i.prototype.parser}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["mask","writeUInt8",1]),L.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]);var I=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE_DEP",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE_DEP",I.prototype.msg_type=27,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:s.prototype.parser}),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["mask","writeUInt8",1]),I.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]);var T=function(e,t){return p.call(this,e),this.messageType="MSG_DEVICE_MONITOR",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="MSG_DEVICE_MONITOR",T.prototype.msg_type=181,T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").int16("dev_vin").int16("cpu_vint").int16("cpu_vaux").int16("cpu_temperature").int16("fe_temperature"),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["dev_vin","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_vint","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_vaux","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_temperature","writeInt16LE",2]),T.prototype.fieldSpec.push(["fe_temperature","writeInt16LE",2]);var U=function(e,t){return p.call(this,e),this.messageType="MSG_COMMAND_REQ",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_REQ",U.prototype.msg_type=184,U.prototype.constructor=U,U.prototype.parser=(new o).endianess("little").uint32("sequence").string("command",{greedy:!0}),U.prototype.fieldSpec=[],U.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),U.prototype.fieldSpec.push(["command","string",null]);var M=function(e,t){return p.call(this,e),this.messageType="MSG_COMMAND_RESP",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_RESP",M.prototype.msg_type=185,M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").uint32("sequence").int32("code"),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),M.prototype.fieldSpec.push(["code","writeInt32LE",4]);var D=function(e,t){return p.call(this,e),this.messageType="MSG_COMMAND_OUTPUT",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_OUTPUT",D.prototype.msg_type=188,D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").uint32("sequence").string("line",{greedy:!0}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),D.prototype.fieldSpec.push(["line","string",null]);var O=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_STATE_REQ",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_STATE_REQ",O.prototype.msg_type=186,O.prototype.constructor=O,O.prototype.parser=(new o).endianess("little"),O.prototype.fieldSpec=[];var G=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_STATE_RESP",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_STATE_RESP",G.prototype.msg_type=187,G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").array("ipv4_address",{length:4,type:"uint8"}).uint8("ipv4_mask_size").array("ipv6_address",{length:16,type:"uint8"}).uint8("ipv6_mask_size").uint32("rx_bytes").uint32("tx_bytes").string("interface_name",{length:16}).uint32("flags"),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["ipv4_address","array","writeUInt8",function(){return 1},4]),G.prototype.fieldSpec.push(["ipv4_mask_size","writeUInt8",1]),G.prototype.fieldSpec.push(["ipv6_address","array","writeUInt8",function(){return 1},16]),G.prototype.fieldSpec.push(["ipv6_mask_size","writeUInt8",1]),G.prototype.fieldSpec.push(["rx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["tx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["interface_name","string",16]),G.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var A=function(e,t){return p.call(this,e),this.messageType="NetworkUsage",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(p.prototype)).messageType="NetworkUsage",A.prototype.constructor=A,A.prototype.parser=(new o).endianess("little").uint64("duration").uint64("total_bytes").uint32("rx_bytes").uint32("tx_bytes").string("interface_name",{length:16}),A.prototype.fieldSpec=[],A.prototype.fieldSpec.push(["duration","writeUInt64LE",8]),A.prototype.fieldSpec.push(["total_bytes","writeUInt64LE",8]),A.prototype.fieldSpec.push(["rx_bytes","writeUInt32LE",4]),A.prototype.fieldSpec.push(["tx_bytes","writeUInt32LE",4]),A.prototype.fieldSpec.push(["interface_name","string",16]);var C=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_BANDWIDTH_USAGE",this.fields=t||this.parser.parse(e.payload),this};(C.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_BANDWIDTH_USAGE",C.prototype.msg_type=189,C.prototype.constructor=C,C.prototype.parser=(new o).endianess("little").array("interfaces",{type:A.prototype.parser,readUntil:"eof"}),C.prototype.fieldSpec=[],C.prototype.fieldSpec.push(["interfaces","array",A.prototype.fieldSpec,function(){return this.fields.array.length},null]);var R=function(e,t){return p.call(this,e),this.messageType="MSG_CELL_MODEM_STATUS",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(p.prototype)).messageType="MSG_CELL_MODEM_STATUS",R.prototype.msg_type=190,R.prototype.constructor=R,R.prototype.parser=(new o).endianess("little").int8("signal_strength").floatle("signal_error_rate").array("reserved",{type:"uint8",readUntil:"eof"}),R.prototype.fieldSpec=[],R.prototype.fieldSpec.push(["signal_strength","writeInt8",1]),R.prototype.fieldSpec.push(["signal_error_rate","writeFloatLE",4]),R.prototype.fieldSpec.push(["reserved","array","writeUInt8",function(){return 1},null]);var P=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN_DEP",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN_DEP",P.prototype.msg_type=80,P.prototype.constructor=P,P.prototype.parser=(new o).endianess("little").uint16("channel_tag").nest("t",{type:a.prototype.parser}).floatle("freq_ref").floatle("freq_step").floatle("amplitude_ref").floatle("amplitude_unit").array("amplitude_value",{type:"uint8",readUntil:"eof"}),P.prototype.fieldSpec=[],P.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),P.prototype.fieldSpec.push(["t",a.prototype.fieldSpec]),P.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),P.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),P.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),P.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),P.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var N=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN",this.fields=t||this.parser.parse(e.payload),this};(N.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN",N.prototype.msg_type=81,N.prototype.constructor=N,N.prototype.parser=(new o).endianess("little").uint16("channel_tag").nest("t",{type:n.prototype.parser}).floatle("freq_ref").floatle("freq_step").floatle("amplitude_ref").floatle("amplitude_unit").array("amplitude_value",{type:"uint8",readUntil:"eof"}),N.prototype.fieldSpec=[],N.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),N.prototype.fieldSpec.push(["t",n.prototype.fieldSpec]),N.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),N.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),N.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),N.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),N.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var j=function(e,t){return p.call(this,e),this.messageType="MSG_FRONT_END_GAIN",this.fields=t||this.parser.parse(e.payload),this};(j.prototype=Object.create(p.prototype)).messageType="MSG_FRONT_END_GAIN",j.prototype.msg_type=191,j.prototype.constructor=j,j.prototype.parser=(new o).endianess("little").array("rf_gain",{length:8,type:"int8"}).array("if_gain",{length:8,type:"int8"}),j.prototype.fieldSpec=[],j.prototype.fieldSpec.push(["rf_gain","array","writeInt8",function(){return 1},8]),j.prototype.fieldSpec.push(["if_gain","array","writeInt8",function(){return 1},8]),e.exports={105:l,MsgAlmanac:l,104:c,MsgSetTime:c,182:u,MsgReset:u,178:y,MsgResetDep:y,192:h,MsgCwResults:h,193:f,MsgCwStart:f,34:d,MsgResetFilters:d,35:_,MsgInitBaseDep:_,23:S,MsgThreadState:S,UARTChannel:g,Period:w,Latency:E,29:m,MsgUartState:m,24:b,MsgUartStateDepa:b,25:v,MsgIarState:v,43:L,MsgMaskSatellite:L,27:I,MsgMaskSatelliteDep:I,181:T,MsgDeviceMonitor:T,184:U,MsgCommandReq:U,185:M,MsgCommandResp:M,188:D,MsgCommandOutput:D,186:O,MsgNetworkStateReq:O,187:G,MsgNetworkStateResp:G,NetworkUsage:A,189:C,MsgNetworkBandwidthUsage:C,190:R,MsgCellModemStatus:R,80:P,MsgSpecanDep:P,81:N,MsgSpecan:N,191:j,MsgFrontEndGain:j}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).CarrierPhase,r(0).GnssSignal),s=(r(0).GnssSignalDep,r(0).GPSTime,r(0).GPSTimeDep,r(0).GPSTimeSec,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_SBAS_RAW",this.fields=t||this.parser.parse(e.payload),this});(s.prototype=Object.create(p.prototype)).messageType="MSG_SBAS_RAW",s.prototype.msg_type=30583,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint32("tow").uint8("message_type").array("data",{length:27,type:"uint8"}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),s.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),s.prototype.fieldSpec.push(["message_type","writeUInt8",1]),s.prototype.fieldSpec.push(["data","array","writeUInt8",function(){return 1},27]),e.exports={30583:s,MsgSbasRaw:s}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return 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p.call(this,e),this.messageType="TroposphericDelayCorrection",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="TroposphericDelayCorrection",f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").int16("hydro").int8("wet").uint8("stddev"),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["hydro","writeInt16LE",2]),f.prototype.fieldSpec.push(["wet","writeInt8",1]),f.prototype.fieldSpec.push(["stddev","writeUInt8",1]);var d=function(e,t){return p.call(this,e),this.messageType="STECResidualNoStd",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="STECResidualNoStd",d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").nest("sv_id",{type:n.prototype.parser}).int16("residual"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["sv_id",n.prototype.fieldSpec]),d.prototype.fieldSpec.push(["residual","writeInt16LE",2]);var _=function(e,t){return p.call(this,e),this.messageType="STECResidual",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="STECResidual",_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").nest("sv_id",{type:n.prototype.parser}).int16("residual").uint8("stddev"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["sv_id",n.prototype.fieldSpec]),_.prototype.fieldSpec.push(["residual","writeInt16LE",2]),_.prototype.fieldSpec.push(["stddev","writeUInt8",1]);var S=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_SSR_ORBIT_CLOCK",S.prototype.msg_type=1501,S.prototype.constructor=S,S.prototype.parser=(new 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g=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_CODE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.prototype)).messageType="MSG_SSR_CODE_BIASES",g.prototype.msg_type=1505,g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").array("biases",{type:a.prototype.parser,readUntil:"eof"}),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),g.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),g.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),g.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),g.prototype.fieldSpec.push(["biases","array",a.prototype.fieldSpec,function(){return this.fields.array.length},null]);var w=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_PHASE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="MSG_SSR_PHASE_BIASES",w.prototype.msg_type=1510,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").uint8("dispersive_bias").uint8("mw_consistency").uint16("yaw").int8("yaw_rate").array("biases",{type:l.prototype.parser,readUntil:"eof"}),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),w.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),w.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),w.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),w.prototype.fieldSpec.push(["dispersive_bias","writeUInt8",1]),w.prototype.fieldSpec.push(["mw_consistency","writeUInt8",1]),w.prototype.fieldSpec.push(["yaw","writeUInt16LE",2]),w.prototype.fieldSpec.push(["yaw_rate","writeInt8",1]),w.prototype.fieldSpec.push(["biases","array",l.prototype.fieldSpec,function(){return this.fields.array.length},null]);var E=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION",E.prototype.msg_type=1531,E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").nest("header",{type:c.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["header",c.prototype.fieldSpec]),E.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var m=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION",m.prototype.msg_type=1532,m.prototype.constructor=m,m.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).uint16("index").nest("tropo_delay_correction",{type:f.prototype.parser}).array("stec_residuals",{type:_.prototype.parser,readUntil:"eof"}),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),m.prototype.fieldSpec.push(["index","writeUInt16LE",2]),m.prototype.fieldSpec.push(["tropo_delay_correction",f.prototype.fieldSpec]),m.prototype.fieldSpec.push(["stec_residuals","array",_.prototype.fieldSpec,function(){return this.fields.array.length},null]);var b=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_TILE_DEFINITION",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_SSR_TILE_DEFINITION",b.prototype.msg_type=1526,b.prototype.constructor=b,b.prototype.parser=(new o).endianess("little").uint16("tile_set_id").uint16("tile_id").int16("corner_nw_lat").int16("corner_nw_lon").uint16("spacing_lat").uint16("spacing_lon").uint16("rows").uint16("cols").uint64("bitmask"),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["tile_set_id","writeUInt16LE",2]),b.prototype.fieldSpec.push(["tile_id","writeUInt16LE",2]),b.prototype.fieldSpec.push(["corner_nw_lat","writeInt16LE",2]),b.prototype.fieldSpec.push(["corner_nw_lon","writeInt16LE",2]),b.prototype.fieldSpec.push(["spacing_lat","writeUInt16LE",2]),b.prototype.fieldSpec.push(["spacing_lon","writeUInt16LE",2]),b.prototype.fieldSpec.push(["rows","writeUInt16LE",2]),b.prototype.fieldSpec.push(["cols","writeUInt16LE",2]),b.prototype.fieldSpec.push(["bitmask","writeUInt64LE",8]);var v=function(e,t){return p.call(this,e),this.messageType="SatelliteAPC",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="SatelliteAPC",v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint8("sat_info").uint16("svn").array("pco",{length:3,type:"int16le"}).array("pcv",{length:21,type:"int8"}),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),v.prototype.fieldSpec.push(["sat_info","writeUInt8",1]),v.prototype.fieldSpec.push(["svn","writeUInt16LE",2]),v.prototype.fieldSpec.push(["pco","array","writeInt16LE",function(){return 2},3]),v.prototype.fieldSpec.push(["pcv","array","writeInt8",function(){return 1},21]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_SATELLITE_APC",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_SSR_SATELLITE_APC",L.prototype.msg_type=1540,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").array("apc",{type:v.prototype.parser,readUntil:"eof"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["apc","array",v.prototype.fieldSpec,function(){return this.fields.array.length},null]);var I=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",I.prototype.msg_type=1500,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").uint8("iod").int32("radial").int32("along").int32("cross").int32("dot_radial").int32("dot_along").int32("dot_cross").int32("c0").int32("c1").int32("c2"),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),I.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),I.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),I.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),I.prototype.fieldSpec.push(["iod","writeUInt8",1]),I.prototype.fieldSpec.push(["radial","writeInt32LE",4]),I.prototype.fieldSpec.push(["along","writeInt32LE",4]),I.prototype.fieldSpec.push(["cross","writeInt32LE",4]),I.prototype.fieldSpec.push(["dot_radial","writeInt32LE",4]),I.prototype.fieldSpec.push(["dot_along","writeInt32LE",4]),I.prototype.fieldSpec.push(["dot_cross","writeInt32LE",4]),I.prototype.fieldSpec.push(["c0","writeInt32LE",4]),I.prototype.fieldSpec.push(["c1","writeInt32LE",4]),I.prototype.fieldSpec.push(["c2","writeInt32LE",4]);var T=function(e,t){return p.call(this,e),this.messageType="STECHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="STECHeaderDepA",T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint8("num_msgs").uint8("seq_num").uint8("update_interval").uint8("iod_atmo"),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),T.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),T.prototype.fieldSpec.push(["seq_num","writeUInt8",1]),T.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),T.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]);var U=function(e,t){return p.call(this,e),this.messageType="GriddedCorrectionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(p.prototype)).messageType="GriddedCorrectionHeaderDepA",U.prototype.constructor=U,U.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint16("num_msgs").uint16("seq_num").uint8("update_interval").uint8("iod_atmo").uint8("tropo_quality_indicator"),U.prototype.fieldSpec=[],U.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),U.prototype.fieldSpec.push(["num_msgs","writeUInt16LE",2]),U.prototype.fieldSpec.push(["seq_num","writeUInt16LE",2]),U.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),U.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]),U.prototype.fieldSpec.push(["tropo_quality_indicator","writeUInt8",1]);var M=function(e,t){return p.call(this,e),this.messageType="GridDefinitionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(p.prototype)).messageType="GridDefinitionHeaderDepA",M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").uint8("region_size_inverse").uint16("area_width").uint16("lat_nw_corner_enc").uint16("lon_nw_corner_enc").uint8("num_msgs").uint8("seq_num"),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["region_size_inverse","writeUInt8",1]),M.prototype.fieldSpec.push(["area_width","writeUInt16LE",2]),M.prototype.fieldSpec.push(["lat_nw_corner_enc","writeUInt16LE",2]),M.prototype.fieldSpec.push(["lon_nw_corner_enc","writeUInt16LE",2]),M.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),M.prototype.fieldSpec.push(["seq_num","writeUInt8",1]);var D=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION_DEP_A",D.prototype.msg_type=1515,D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").nest("header",{type:T.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["header",T.prototype.fieldSpec]),D.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var O=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A",O.prototype.msg_type=1520,O.prototype.constructor=O,O.prototype.parser=(new o).endianess("little").nest("header",{type:U.prototype.parser}).uint16("index").nest("tropo_delay_correction",{type:h.prototype.parser}).array("stec_residuals",{type:d.prototype.parser,readUntil:"eof"}),O.prototype.fieldSpec=[],O.prototype.fieldSpec.push(["header",U.prototype.fieldSpec]),O.prototype.fieldSpec.push(["index","writeUInt16LE",2]),O.prototype.fieldSpec.push(["tropo_delay_correction",h.prototype.fieldSpec]),O.prototype.fieldSpec.push(["stec_residuals","array",d.prototype.fieldSpec,function(){return this.fields.array.length},null]);var G=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_DEP_A",G.prototype.msg_type=1530,G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").nest("header",{type:U.prototype.parser}).uint16("index").nest("tropo_delay_correction",{type:f.prototype.parser}).array("stec_residuals",{type:_.prototype.parser,readUntil:"eof"}),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["header",U.prototype.fieldSpec]),G.prototype.fieldSpec.push(["index","writeUInt16LE",2]),G.prototype.fieldSpec.push(["tropo_delay_correction",f.prototype.fieldSpec]),G.prototype.fieldSpec.push(["stec_residuals","array",_.prototype.fieldSpec,function(){return this.fields.array.length},null]);var A=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRID_DEFINITION_DEP_A",A.prototype.msg_type=1525,A.prototype.constructor=A,A.prototype.parser=(new o).endianess("little").nest("header",{type:M.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),A.prototype.fieldSpec=[],A.prototype.fieldSpec.push(["header",M.prototype.fieldSpec]),A.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]),e.exports={CodeBiasesContent:a,PhaseBiasesContent:l,STECHeader:c,GriddedCorrectionHeader:u,STECSatElement:y,TroposphericDelayCorrectionNoStd:h,TroposphericDelayCorrection:f,STECResidualNoStd:d,STECResidual:_,1501:S,MsgSsrOrbitClock:S,1505:g,MsgSsrCodeBiases:g,1510:w,MsgSsrPhaseBiases:w,1531:E,MsgSsrStecCorrection:E,1532:m,MsgSsrGriddedCorrection:m,1526:b,MsgSsrTileDefinition:b,SatelliteAPC:v,1540:L,MsgSsrSatelliteApc:L,1500:I,MsgSsrOrbitClockDepA:I,STECHeaderDepA:T,GriddedCorrectionHeaderDepA:U,GridDefinitionHeaderDepA:M,1515:D,MsgSsrStecCorrectionDepA:D,1520:O,MsgSsrGriddedCorrectionNoStdDepA:O,1530:G,MsgSsrGriddedCorrectionDepA:G,1525:A,MsgSsrGridDefinitionDepA:A}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_STARTUP",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_STARTUP",i.prototype.msg_type=65280,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint8("cause").uint8("startup_type").uint16("reserved"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["cause","writeUInt8",1]),i.prototype.fieldSpec.push(["startup_type","writeUInt8",1]),i.prototype.fieldSpec.push(["reserved","writeUInt16LE",2]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_DGNSS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_DGNSS_STATUS",s.prototype.msg_type=65282,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("flags").uint16("latency").uint8("num_signals").string("source",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["flags","writeUInt8",1]),s.prototype.fieldSpec.push(["latency","writeUInt16LE",2]),s.prototype.fieldSpec.push(["num_signals","writeUInt8",1]),s.prototype.fieldSpec.push(["source","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_HEARTBEAT",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_HEARTBEAT",n.prototype.msg_type=65535,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint32("flags"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var a=function(e,t){return p.call(this,e),this.messageType="SubSystemReport",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="SubSystemReport",a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint16("component").uint8("generic").uint8("specific"),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["component","writeUInt16LE",2]),a.prototype.fieldSpec.push(["generic","writeUInt8",1]),a.prototype.fieldSpec.push(["specific","writeUInt8",1]);var l=function(e,t){return p.call(this,e),this.messageType="MSG_STATUS_REPORT",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_STATUS_REPORT",l.prototype.msg_type=65534,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").uint16("reporting_system").uint16("sbp_version").uint32("sequence").uint32("uptime").array("status",{type:a.prototype.parser,readUntil:"eof"}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["reporting_system","writeUInt16LE",2]),l.prototype.fieldSpec.push(["sbp_version","writeUInt16LE",2]),l.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),l.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),l.prototype.fieldSpec.push(["status","array",a.prototype.fieldSpec,function(){return this.fields.array.length},null]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_INS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_INS_STATUS",c.prototype.msg_type=65283,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("flags"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_CSAC_TELEMETRY",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_CSAC_TELEMETRY",u.prototype.msg_type=65284,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry",{greedy:!0}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["id","writeUInt8",1]),u.prototype.fieldSpec.push(["telemetry","string",null]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_CSAC_TELEMETRY_LABELS",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_CSAC_TELEMETRY_LABELS",y.prototype.msg_type=65285,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry_labels",{greedy:!0}),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["id","writeUInt8",1]),y.prototype.fieldSpec.push(["telemetry_labels","string",null]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_INS_UPDATES",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_INS_UPDATES",h.prototype.msg_type=65286,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").uint32("tow").uint8("gnsspos").uint8("gnssvel").uint8("wheelticks").uint8("speed").uint8("nhc").uint8("zerovel"),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),h.prototype.fieldSpec.push(["gnsspos","writeUInt8",1]),h.prototype.fieldSpec.push(["gnssvel","writeUInt8",1]),h.prototype.fieldSpec.push(["wheelticks","writeUInt8",1]),h.prototype.fieldSpec.push(["speed","writeUInt8",1]),h.prototype.fieldSpec.push(["nhc","writeUInt8",1]),h.prototype.fieldSpec.push(["zerovel","writeUInt8",1]);var f=function(e,t){return p.call(this,e),this.messageType="MSG_GNSS_TIME_OFFSET",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_GNSS_TIME_OFFSET",f.prototype.msg_type=65287,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").int16("weeks").int32("milliseconds").int16("microseconds").uint8("flags"),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["weeks","writeInt16LE",2]),f.prototype.fieldSpec.push(["milliseconds","writeInt32LE",4]),f.prototype.fieldSpec.push(["microseconds","writeInt16LE",2]),f.prototype.fieldSpec.push(["flags","writeUInt8",1]);var d=function(e,t){return p.call(this,e),this.messageType="MSG_PPS_TIME",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="MSG_PPS_TIME",d.prototype.msg_type=65288,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").uint64("time").uint8("flags"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["time","writeUInt64LE",8]),d.prototype.fieldSpec.push(["flags","writeUInt8",1]);var _=function(e,t){return p.call(this,e),this.messageType="MSG_GROUP_META",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="MSG_GROUP_META",_.prototype.msg_type=65290,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").uint8("group_id").uint8("flags").uint8("n_group_msgs").array("group_msgs",{type:"uint16le",length:"n_group_msgs"}),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["group_id","writeUInt8",1]),_.prototype.fieldSpec.push(["flags","writeUInt8",1]),_.prototype.fieldSpec.push(["n_group_msgs","writeUInt8",1]),_.prototype.fieldSpec.push(["group_msgs","array","writeUInt16LE",function(){return 2},"n_group_msgs"]),e.exports={65280:i,MsgStartup:i,65282:s,MsgDgnssStatus:s,65535:n,MsgHeartbeat:n,SubSystemReport:a,65534:l,MsgStatusReport:l,65283:c,MsgInsStatus:c,65284:u,MsgCsacTelemetry:u,65285:y,MsgCsacTelemetryLabels:y,65286:h,MsgInsUpdates:h,65287:f,MsgGnssTimeOffset:f,65288:d,MsgPpsTime:d,65290:_,MsgGroupMeta:_}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).CarrierPhase),s=r(0).GnssSignal,n=r(0).GnssSignalDep,a=r(0).GPSTime,l=r(0).GPSTimeDep,c=(r(0).GPSTimeSec,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",this.fields=t||this.parser.parse(e.payload),this});(c.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",c.prototype.msg_type=33,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint64("recv_time").nest("tot",{type:a.prototype.parser}).uint32("P").uint16("P_std").nest("L",{type:i.prototype.parser}).uint8("cn0").uint16("lock").nest("sid",{type:s.prototype.parser}).int32("doppler").uint16("doppler_std").uint32("uptime").int16("clock_offset").int16("clock_drift").uint16("corr_spacing").int8("acceleration").uint8("sync_flags").uint8("tow_flags").uint8("track_flags").uint8("nav_flags").uint8("pset_flags").uint8("misc_flags"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["recv_time","writeUInt64LE",8]),c.prototype.fieldSpec.push(["tot",a.prototype.fieldSpec]),c.prototype.fieldSpec.push(["P","writeUInt32LE",4]),c.prototype.fieldSpec.push(["P_std","writeUInt16LE",2]),c.prototype.fieldSpec.push(["L",i.prototype.fieldSpec]),c.prototype.fieldSpec.push(["cn0","writeUInt8",1]),c.prototype.fieldSpec.push(["lock","writeUInt16LE",2]),c.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),c.prototype.fieldSpec.push(["doppler","writeInt32LE",4]),c.prototype.fieldSpec.push(["doppler_std","writeUInt16LE",2]),c.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),c.prototype.fieldSpec.push(["clock_offset","writeInt16LE",2]),c.prototype.fieldSpec.push(["clock_drift","writeInt16LE",2]),c.prototype.fieldSpec.push(["corr_spacing","writeUInt16LE",2]),c.prototype.fieldSpec.push(["acceleration","writeInt8",1]),c.prototype.fieldSpec.push(["sync_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["tow_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["track_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["nav_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["pset_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["misc_flags","writeUInt8",1]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE_DETAILED_DEP",u.prototype.msg_type=17,u.prototype.constructor=u,u.prototype.parser=(new 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y=function(e,t){return p.call(this,e),this.messageType="TrackingChannelState",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="TrackingChannelState",y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").nest("sid",{type:s.prototype.parser}).uint8("fcn").uint8("cn0"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),y.prototype.fieldSpec.push(["fcn","writeUInt8",1]),y.prototype.fieldSpec.push(["cn0","writeUInt8",1]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE",h.prototype.msg_type=65,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").array("states",{type:y.prototype.parser,readUntil:"eof"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["states","array",y.prototype.fieldSpec,function(){return 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this._a48e._a48)&&(this._a32e._a32)&&(this._a16e._a16)&&this._a00=48?(this._a00=this._a48>>e-48,this._a16=0,this._a32=0,this._a48=0):e>=32?(e-=32,this._a00=65535&(this._a32>>e|this._a48<<16-e),this._a16=this._a48>>e&65535,this._a32=0,this._a48=0):e>=16?(e-=16,this._a00=65535&(this._a16>>e|this._a32<<16-e),this._a16=65535&(this._a32>>e|this._a48<<16-e),this._a32=this._a48>>e&65535,this._a48=0):(this._a00=65535&(this._a00>>e|this._a16<<16-e),this._a16=65535&(this._a16>>e|this._a32<<16-e),this._a32=65535&(this._a32>>e|this._a48<<16-e),this._a48=this._a48>>e&65535),this},s.prototype.shiftLeft=s.prototype.shiftl=function(e,t){return(e%=64)>=48?(this._a48=this._a00<=32?(e-=32,this._a48=this._a16<>16-e,this._a32=this._a00<=16?(e-=16,this._a48=this._a32<>16-e,this._a32=65535&(this._a16<>16-e),this._a16=this._a00<>16-e,this._a32=65535&(this._a32<>16-e),this._a16=65535&(this._a16<>16-e),this._a00=this._a00<=32){var t=this._a00;if(this._a00=this._a32,this._a32=t,t=this._a48,this._a48=this._a16,this._a16=t,32==e)return this;e-=32}var r=this._a48<<16|this._a32,p=this._a16<<16|this._a00,o=r<>>32-e,i=p<>>32-e;return this._a00=65535&i,this._a16=i>>>16,this._a32=65535&o,this._a48=o>>>16,this},s.prototype.rotateRight=s.prototype.rotr=function(e){if(0==(e%=64))return this;if(e>=32){var t=this._a00;if(this._a00=this._a32,this._a32=t,t=this._a48,this._a48=this._a16,this._a16=t,32==e)return this;e-=32}var r=this._a48<<16|this._a32,p=this._a16<<16|this._a00,o=r>>>e|p<<32-e,i=p>>>e|r<<32-e;return this._a00=65535&i,this._a16=i>>>16,this._a32=65535&o,this._a48=o>>>16,this},s.prototype.clone=function(){return new s(this._a00,this._a16,this._a32,this._a48)},void 0===(p=function(){return s}.apply(t,[]))||(e.exports=p)}()},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).CarrierPhase,r(0).GnssSignal),s=r(0).GnssSignalDep,n=(r(0).GPSTime,r(0).GPSTimeDep,r(0).GPSTimeSec,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_RESULT",this.fields=t||this.parser.parse(e.payload),this});(n.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_RESULT",n.prototype.msg_type=47,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").floatle("cn0").floatle("cp").floatle("cf").nest("sid",{type:i.prototype.parser}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["cn0","writeFloatLE",4]),n.prototype.fieldSpec.push(["cp","writeFloatLE",4]),n.prototype.fieldSpec.push(["cf","writeFloatLE",4]),n.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_RESULT_DEP_C",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_RESULT_DEP_C",a.prototype.msg_type=31,a.prototype.constructor=a,a.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_ACQ_RESULT_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_RESULT_DEP_A",c.prototype.msg_type=21,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").floatle("snr").floatle("cp").floatle("cf").uint8("prn"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["snr","writeFloatLE",4]),c.prototype.fieldSpec.push(["cp","writeFloatLE",4]),c.prototype.fieldSpec.push(["cf","writeFloatLE",4]),c.prototype.fieldSpec.push(["prn","writeUInt8",1]);var u=function(e,t){return p.call(this,e),this.messageType="AcqSvProfile",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="AcqSvProfile",u.prototype.constructor=u,u.prototype.parser=(new 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p.call(this,e),this.messageType="AcqSvProfileDep",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="AcqSvProfileDep",y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").uint8("job_type").uint8("status").uint16("cn0").uint8("int_time").nest("sid",{type:s.prototype.parser}).uint16("bin_width").uint32("timestamp").uint32("time_spent").int32("cf_min").int32("cf_max").int32("cf").uint32("cp"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["job_type","writeUInt8",1]),y.prototype.fieldSpec.push(["status","writeUInt8",1]),y.prototype.fieldSpec.push(["cn0","writeUInt16LE",2]),y.prototype.fieldSpec.push(["int_time","writeUInt8",1]),y.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),y.prototype.fieldSpec.push(["bin_width","writeUInt16LE",2]),y.prototype.fieldSpec.push(["timestamp","writeUInt32LE",4]),y.prototype.fieldSpec.push(["time_spent","writeUInt32LE",4]),y.prototype.fieldSpec.push(["cf_min","writeInt32LE",4]),y.prototype.fieldSpec.push(["cf_max","writeInt32LE",4]),y.prototype.fieldSpec.push(["cf","writeInt32LE",4]),y.prototype.fieldSpec.push(["cp","writeUInt32LE",4]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_SV_PROFILE",h.prototype.msg_type=46,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").array("acq_sv_profile",{type:u.prototype.parser,readUntil:"eof"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["acq_sv_profile","array",u.prototype.fieldSpec,function(){return this.fields.array.length},null]);var f=function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE_DEP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_SV_PROFILE_DEP",f.prototype.msg_type=30,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").array("acq_sv_profile",{type:y.prototype.parser,readUntil:"eof"}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["acq_sv_profile","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]),e.exports={47:n,MsgAcqResult:n,31:a,MsgAcqResultDepC:a,20:l,MsgAcqResultDepB:l,21:c,MsgAcqResultDepA:c,AcqSvProfile:u,AcqSvProfileDep:y,46:h,MsgAcqSvProfile:h,30:f,MsgAcqSvProfileDep:f}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_REQ",i.prototype.msg_type=179,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little"),i.prototype.fieldSpec=[];var s=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_RESP",s.prototype.msg_type=180,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint32("flags").string("version",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["flags","writeUInt32LE",4]),s.prototype.fieldSpec.push(["version","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_JUMP_TO_APP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_JUMP_TO_APP",n.prototype.msg_type=177,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint8("jump"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["jump","writeUInt8",1]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_REQ",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_NAP_DEVICE_DNA_REQ",a.prototype.msg_type=222,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little"),a.prototype.fieldSpec=[];var l=function(e,t){return p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_NAP_DEVICE_DNA_RESP",l.prototype.msg_type=221,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").array("dna",{length:8,type:"uint8"}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["dna","array","writeUInt8",function(){return 1},8]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",c.prototype.msg_type=176,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").array("handshake",{type:"uint8",readUntil:"eof"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["handshake","array","writeUInt8",function(){return 1},null]),e.exports={179:i,MsgBootloaderHandshakeReq:i,180:s,MsgBootloaderHandshakeResp:s,177:n,MsgBootloaderJumpToApp:n,222:a,MsgNapDeviceDnaReq:a,221:l,MsgNapDeviceDnaResp:l,176:c,MsgBootloaderHandshakeDepA:c}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_EXT_EVENT",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_EXT_EVENT",i.prototype.msg_type=257,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint16("wn").uint32("tow").int32("ns_residual").uint8("flags").uint8("pin"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["wn","writeUInt16LE",2]),i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["ns_residual","writeInt32LE",4]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]),i.prototype.fieldSpec.push(["pin","writeUInt8",1]),e.exports={257:i,MsgExtEvent:i}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_REQ",i.prototype.msg_type=168,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("sequence").uint32("offset").uint8("chunk_size").string("filename",{greedy:!0}),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),i.prototype.fieldSpec.push(["offset","writeUInt32LE",4]),i.prototype.fieldSpec.push(["chunk_size","writeUInt8",1]),i.prototype.fieldSpec.push(["filename","string",null]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_RESP",s.prototype.msg_type=163,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint32("sequence").array("contents",{type:"uint8",readUntil:"eof"}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),s.prototype.fieldSpec.push(["contents","array","writeUInt8",function(){return 1},null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_REQ",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_DIR_REQ",n.prototype.msg_type=169,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint32("sequence").uint32("offset").string("dirname",{greedy:!0}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),n.prototype.fieldSpec.push(["offset","writeUInt32LE",4]),n.prototype.fieldSpec.push(["dirname","string",null]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_RESP",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_DIR_RESP",a.prototype.msg_type=170,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint32("sequence").array("contents",{type:"uint8",readUntil:"eof"}),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),a.prototype.fieldSpec.push(["contents","array","writeUInt8",function(){return 1},null]);var l=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_REMOVE",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_REMOVE",l.prototype.msg_type=172,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").string("filename",{greedy:!0}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["filename","string",null]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_WRITE_REQ",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_WRITE_REQ",c.prototype.msg_type=173,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("sequence").uint32("offset").string("filename",{greedy:!0}).array("data",{type:"uint8",readUntil:"eof"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),c.prototype.fieldSpec.push(["offset","writeUInt32LE",4]),c.prototype.fieldSpec.push(["filename","string",null]),c.prototype.fieldSpec.push(["data","array","writeUInt8",function(){return 1},null]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_WRITE_RESP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_WRITE_RESP",u.prototype.msg_type=171,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("sequence"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_CONFIG_REQ",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_CONFIG_REQ",y.prototype.msg_type=4097,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").uint32("sequence"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_CONFIG_RESP",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_CONFIG_RESP",h.prototype.msg_type=4098,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").uint32("sequence").uint32("window_size").uint32("batch_size").uint32("fileio_version"),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),h.prototype.fieldSpec.push(["window_size","writeUInt32LE",4]),h.prototype.fieldSpec.push(["batch_size","writeUInt32LE",4]),h.prototype.fieldSpec.push(["fileio_version","writeUInt32LE",4]),e.exports={168:i,MsgFileioReadReq:i,163:s,MsgFileioReadResp:s,169:n,MsgFileioReadDirReq:n,170:a,MsgFileioReadDirResp:a,172:l,MsgFileioRemove:l,173:c,MsgFileioWriteReq:c,171:u,MsgFileioWriteResp:u,4097:y,MsgFileioConfigReq:y,4098:h,MsgFileioConfigResp:h}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_FLASH_PROGRAM",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_FLASH_PROGRAM",i.prototype.msg_type=230,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint8("target").array("addr_start",{length:3,type:"uint8"}).uint8("addr_len").array("data",{type:"uint8",length:"addr_len"}),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["target","writeUInt8",1]),i.prototype.fieldSpec.push(["addr_start","array","writeUInt8",function(){return 1},3]),i.prototype.fieldSpec.push(["addr_len","writeUInt8",1]),i.prototype.fieldSpec.push(["data","array","writeUInt8",function(){return 1},"addr_len"]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_FLASH_DONE",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_FLASH_DONE",s.prototype.msg_type=224,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("response"),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["response","writeUInt8",1]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_FLASH_READ_REQ",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_FLASH_READ_REQ",n.prototype.msg_type=231,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint8("target").array("addr_start",{length:3,type:"uint8"}).uint8("addr_len"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["target","writeUInt8",1]),n.prototype.fieldSpec.push(["addr_start","array","writeUInt8",function(){return 1},3]),n.prototype.fieldSpec.push(["addr_len","writeUInt8",1]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_FLASH_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_FLASH_READ_RESP",a.prototype.msg_type=225,a.prototype.constructor=a,a.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_STM_UNIQUE_ID_REQ",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_STM_UNIQUE_ID_REQ",y.prototype.msg_type=232,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little"),y.prototype.fieldSpec=[];var h=function(e,t){return p.call(this,e),this.messageType="MSG_STM_UNIQUE_ID_RESP",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_STM_UNIQUE_ID_RESP",h.prototype.msg_type=229,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").array("stm_id",{length:12,type:"uint8"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["stm_id","array","writeUInt8",function(){return 1},12]);var f=function(e,t){return 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p.call(this,e),this.messageType="MSG_LINUX_SOCKET_USAGE",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_SOCKET_USAGE",c.prototype.msg_type=32517,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("avg_queue_depth").uint32("max_queue_depth").array("socket_state_counts",{length:16,type:"uint16le"}).array("socket_type_counts",{length:16,type:"uint16le"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["avg_queue_depth","writeUInt32LE",4]),c.prototype.fieldSpec.push(["max_queue_depth","writeUInt32LE",4]),c.prototype.fieldSpec.push(["socket_state_counts","array","writeUInt16LE",function(){return 2},16]),c.prototype.fieldSpec.push(["socket_type_counts","array","writeUInt16LE",function(){return 2},16]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_COUNT",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_FD_COUNT",u.prototype.msg_type=32518,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint8("index").uint16("pid").uint16("fd_count").string("cmdline",{greedy:!0}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["index","writeUInt8",1]),u.prototype.fieldSpec.push(["pid","writeUInt16LE",2]),u.prototype.fieldSpec.push(["fd_count","writeUInt16LE",2]),u.prototype.fieldSpec.push(["cmdline","string",null]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_SUMMARY",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_FD_SUMMARY",y.prototype.msg_type=32519,y.prototype.constructor=y,y.prototype.parser=(new 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p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_LOG",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_LOG",i.prototype.msg_type=1025,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint8("level").string("text",{greedy:!0}),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["level","writeUInt8",1]),i.prototype.fieldSpec.push(["text","string",null]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_FWD",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_FWD",s.prototype.msg_type=1026,s.prototype.constructor=s,s.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_MAG_RAW",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_MAG_RAW",i.prototype.msg_type=2306,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").uint8("tow_f").int16("mag_x").int16("mag_y").int16("mag_z"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["tow_f","writeUInt8",1]),i.prototype.fieldSpec.push(["mag_x","writeInt16LE",2]),i.prototype.fieldSpec.push(["mag_y","writeInt16LE",2]),i.prototype.fieldSpec.push(["mag_z","writeInt16LE",2]),e.exports={2306:i,MsgMagRaw:i}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_GPS_TIME",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_GPS_TIME",i.prototype.msg_type=258,i.prototype.constructor=i,i.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_DOPS",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_DOPS",l.prototype.msg_type=520,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").uint32("tow").uint16("gdop").uint16("pdop").uint16("tdop").uint16("hdop").uint16("vdop").uint8("flags"),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),l.prototype.fieldSpec.push(["gdop","writeUInt16LE",2]),l.prototype.fieldSpec.push(["pdop","writeUInt16LE",2]),l.prototype.fieldSpec.push(["tdop","writeUInt16LE",2]),l.prototype.fieldSpec.push(["hdop","writeUInt16LE",2]),l.prototype.fieldSpec.push(["vdop","writeUInt16LE",2]),l.prototype.fieldSpec.push(["flags","writeUInt8",1]);var c=function(e,t){return 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o).endianess("little").uint32("tow").int16("wn").uint16("hpl").uint16("vpl").uint16("atpl").uint16("ctpl").uint16("hvpl").uint16("vvpl").uint16("hopl").uint16("popl").uint16("ropl").doublele("lat").doublele("lon").doublele("height").int32("v_x").int32("v_y").int32("v_z").int32("roll").int32("pitch").int32("heading").uint32("flags"),z.prototype.fieldSpec=[],z.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),z.prototype.fieldSpec.push(["wn","writeInt16LE",2]),z.prototype.fieldSpec.push(["hpl","writeUInt16LE",2]),z.prototype.fieldSpec.push(["vpl","writeUInt16LE",2]),z.prototype.fieldSpec.push(["atpl","writeUInt16LE",2]),z.prototype.fieldSpec.push(["ctpl","writeUInt16LE",2]),z.prototype.fieldSpec.push(["hvpl","writeUInt16LE",2]),z.prototype.fieldSpec.push(["vvpl","writeUInt16LE",2]),z.prototype.fieldSpec.push(["hopl","writeUInt16LE",2]),z.prototype.fieldSpec.push(["popl","writeUInt16LE",2]),z.prototype.fieldSpec.push(["ropl","writeUInt16LE",2]),z.prototype.fieldSpec.push(["lat","writeDoubleLE",8]),z.prototype.fieldSpec.push(["lon","writeDoubleLE",8]),z.prototype.fieldSpec.push(["height","writeDoubleLE",8]),z.prototype.fieldSpec.push(["v_x","writeInt32LE",4]),z.prototype.fieldSpec.push(["v_y","writeInt32LE",4]),z.prototype.fieldSpec.push(["v_z","writeInt32LE",4]),z.prototype.fieldSpec.push(["roll","writeInt32LE",4]),z.prototype.fieldSpec.push(["pitch","writeInt32LE",4]),z.prototype.fieldSpec.push(["heading","writeInt32LE",4]),z.prototype.fieldSpec.push(["flags","writeUInt32LE",4]),e.exports={258:i,MsgGpsTime:i,260:s,MsgGpsTimeGnss:s,259:n,MsgUtcTime:n,261:a,MsgUtcTimeGnss:a,520:l,MsgDops:l,521:c,MsgPosEcef:c,532:u,MsgPosEcefCov:u,522:y,MsgPosLlh:y,529:h,MsgPosLlhCov:h,EstimatedHorizontalErrorEllipse:f,536:d,MsgPosLlhAcc:d,523:_,MsgBaselineEcef:_,524:S,MsgBaselineNed:S,525:g,MsgVelEcef:g,533:w,MsgVelEcefCov:w,526:E,MsgVelNed:E,530:m,MsgVelNedCov:m,553:b,MsgPosEcefGnss:b,564:v,MsgPosEcefCovGnss:v,554:L,MsgPosLlhGnss:L,561:I,MsgPosLlhCovGnss:I,557:T,MsgVelEcefGnss:T,565:U,MsgVelEcefCovGnss:U,558:M,MsgVelNedGnss:M,562:D,MsgVelNedCovGnss:D,531:O,MsgVelBody:O,540:G,MsgVelCog:G,528:A,MsgAgeCorrections:A,256:C,MsgGpsTimeDepA:C,518:R,MsgDopsDepA:R,512:P,MsgPosEcefDepA:P,513:N,MsgPosLlhDepA:N,514:j,MsgBaselineEcefDepA:j,515:x,MsgBaselineNedDepA:x,516:k,MsgVelEcefDepA:k,517:F,MsgVelNedDepA:F,519:B,MsgBaselineHeadingDepA:B,534:q,MsgProtectionLevelDepA:q,535:z,MsgProtectionLevel:z}},function(e,t,r){var 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p.call(this,e),this.messageType="ObservationHeader",this.fields=t||this.parser.parse(e.payload),this});(u.prototype=Object.create(p.prototype)).messageType="ObservationHeader",u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").nest("t",{type:a.prototype.parser}).uint8("n_obs"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["t",a.prototype.fieldSpec]),u.prototype.fieldSpec.push(["n_obs","writeUInt8",1]);var y=function(e,t){return p.call(this,e),this.messageType="Doppler",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="Doppler",y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").int16("i").uint8("f"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["i","writeInt16LE",2]),y.prototype.fieldSpec.push(["f","writeUInt8",1]);var h=function(e,t){return p.call(this,e),this.messageType="PackedObsContent",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="PackedObsContent",h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").uint32("P").nest("L",{type:i.prototype.parser}).nest("D",{type:y.prototype.parser}).uint8("cn0").uint8("lock").uint8("flags").nest("sid",{type:s.prototype.parser}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["P","writeUInt32LE",4]),h.prototype.fieldSpec.push(["L",i.prototype.fieldSpec]),h.prototype.fieldSpec.push(["D",y.prototype.fieldSpec]),h.prototype.fieldSpec.push(["cn0","writeUInt8",1]),h.prototype.fieldSpec.push(["lock","writeUInt8",1]),h.prototype.fieldSpec.push(["flags","writeUInt8",1]),h.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]);var f=function(e,t){return p.call(this,e),this.messageType="PackedOsrContent",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="PackedOsrContent",f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").uint32("P").nest("L",{type:i.prototype.parser}).uint8("lock").uint8("flags").nest("sid",{type:s.prototype.parser}).uint16("iono_std").uint16("tropo_std").uint16("range_std"),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["P","writeUInt32LE",4]),f.prototype.fieldSpec.push(["L",i.prototype.fieldSpec]),f.prototype.fieldSpec.push(["lock","writeUInt8",1]),f.prototype.fieldSpec.push(["flags","writeUInt8",1]),f.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),f.prototype.fieldSpec.push(["iono_std","writeUInt16LE",2]),f.prototype.fieldSpec.push(["tropo_std","writeUInt16LE",2]),f.prototype.fieldSpec.push(["range_std","writeUInt16LE",2]);var d=function(e,t){return p.call(this,e),this.messageType="MSG_OBS",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="MSG_OBS",d.prototype.msg_type=74,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).array("obs",{type:h.prototype.parser,readUntil:"eof"}),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),d.prototype.fieldSpec.push(["obs","array",h.prototype.fieldSpec,function(){return this.fields.array.length},null]);var _=function(e,t){return p.call(this,e),this.messageType="MSG_BASE_POS_LLH",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="MSG_BASE_POS_LLH",_.prototype.msg_type=68,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").doublele("lat").doublele("lon").doublele("height"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["lat","writeDoubleLE",8]),_.prototype.fieldSpec.push(["lon","writeDoubleLE",8]),_.prototype.fieldSpec.push(["height","writeDoubleLE",8]);var S=function(e,t){return p.call(this,e),this.messageType="MSG_BASE_POS_ECEF",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_BASE_POS_ECEF",S.prototype.msg_type=72,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").doublele("x").doublele("y").doublele("z"),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["x","writeDoubleLE",8]),S.prototype.fieldSpec.push(["y","writeDoubleLE",8]),S.prototype.fieldSpec.push(["z","writeDoubleLE",8]);var g=function(e,t){return p.call(this,e),this.messageType="EphemerisCommonContent",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.prototype)).messageType="EphemerisCommonContent",g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").nest("sid",{type:s.prototype.parser}).nest("toe",{type:c.prototype.parser}).floatle("ura").uint32("fit_interval").uint8("valid").uint8("health_bits"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),g.prototype.fieldSpec.push(["toe",c.prototype.fieldSpec]),g.prototype.fieldSpec.push(["ura","writeFloatLE",4]),g.prototype.fieldSpec.push(["fit_interval","writeUInt32LE",4]),g.prototype.fieldSpec.push(["valid","writeUInt8",1]),g.prototype.fieldSpec.push(["health_bits","writeUInt8",1]);var w=function(e,t){return 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o).endianess("little").nest("sid",{type:s.prototype.parser}).nest("toa",{type:c.prototype.parser}).doublele("ura").uint32("fit_interval").uint8("valid").uint8("health_bits"),te.prototype.fieldSpec=[],te.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),te.prototype.fieldSpec.push(["toa",c.prototype.fieldSpec]),te.prototype.fieldSpec.push(["ura","writeDoubleLE",8]),te.prototype.fieldSpec.push(["fit_interval","writeUInt32LE",4]),te.prototype.fieldSpec.push(["valid","writeUInt8",1]),te.prototype.fieldSpec.push(["health_bits","writeUInt8",1]);var re=function(e,t){return p.call(this,e),this.messageType="AlmanacCommonContentDep",this.fields=t||this.parser.parse(e.payload),this};(re.prototype=Object.create(p.prototype)).messageType="AlmanacCommonContentDep",re.prototype.constructor=re,re.prototype.parser=(new o).endianess("little").nest("sid",{type:n.prototype.parser}).nest("toa",{type:c.prototype.parser}).doublele("ura").uint32("fit_interval").uint8("valid").uint8("health_bits"),re.prototype.fieldSpec=[],re.prototype.fieldSpec.push(["sid",n.prototype.fieldSpec]),re.prototype.fieldSpec.push(["toa",c.prototype.fieldSpec]),re.prototype.fieldSpec.push(["ura","writeDoubleLE",8]),re.prototype.fieldSpec.push(["fit_interval","writeUInt32LE",4]),re.prototype.fieldSpec.push(["valid","writeUInt8",1]),re.prototype.fieldSpec.push(["health_bits","writeUInt8",1]);var pe=function(e,t){return p.call(this,e),this.messageType="MSG_ALMANAC_GPS_DEP",this.fields=t||this.parser.parse(e.payload),this};(pe.prototype=Object.create(p.prototype)).messageType="MSG_ALMANAC_GPS_DEP",pe.prototype.msg_type=112,pe.prototype.constructor=pe,pe.prototype.parser=(new o).endianess("little").nest("common",{type:re.prototype.parser}).doublele("m0").doublele("ecc").doublele("sqrta").doublele("omega0").doublele("omegadot").doublele("w").doublele("inc").doublele("af0").doublele("af1"),pe.prototype.fieldSpec=[],pe.prototype.fieldSpec.push(["common",re.prototype.fieldSpec]),pe.prototype.fieldSpec.push(["m0","writeDoubleLE",8]),pe.prototype.fieldSpec.push(["ecc","writeDoubleLE",8]),pe.prototype.fieldSpec.push(["sqrta","writeDoubleLE",8]),pe.prototype.fieldSpec.push(["omega0","writeDoubleLE",8]),pe.prototype.fieldSpec.push(["omegadot","writeDoubleLE",8]),pe.prototype.fieldSpec.push(["w","writeDoubleLE",8]),pe.prototype.fieldSpec.push(["inc","writeDoubleLE",8]),pe.prototype.fieldSpec.push(["af0","writeDoubleLE",8]),pe.prototype.fieldSpec.push(["af1","writeDoubleLE",8]);var oe=function(e,t){return p.call(this,e),this.messageType="MSG_ALMANAC_GPS",this.fields=t||this.parser.parse(e.payload),this};(oe.prototype=Object.create(p.prototype)).messageType="MSG_ALMANAC_GPS",oe.prototype.msg_type=114,oe.prototype.constructor=oe,oe.prototype.parser=(new o).endianess("little").nest("common",{type:te.prototype.parser}).doublele("m0").doublele("ecc").doublele("sqrta").doublele("omega0").doublele("omegadot").doublele("w").doublele("inc").doublele("af0").doublele("af1"),oe.prototype.fieldSpec=[],oe.prototype.fieldSpec.push(["common",te.prototype.fieldSpec]),oe.prototype.fieldSpec.push(["m0","writeDoubleLE",8]),oe.prototype.fieldSpec.push(["ecc","writeDoubleLE",8]),oe.prototype.fieldSpec.push(["sqrta","writeDoubleLE",8]),oe.prototype.fieldSpec.push(["omega0","writeDoubleLE",8]),oe.prototype.fieldSpec.push(["omegadot","writeDoubleLE",8]),oe.prototype.fieldSpec.push(["w","writeDoubleLE",8]),oe.prototype.fieldSpec.push(["inc","writeDoubleLE",8]),oe.prototype.fieldSpec.push(["af0","writeDoubleLE",8]),oe.prototype.fieldSpec.push(["af1","writeDoubleLE",8]);var ie=function(e,t){return p.call(this,e),this.messageType="MSG_ALMANAC_GLO_DEP",this.fields=t||this.parser.parse(e.payload),this};(ie.prototype=Object.create(p.prototype)).messageType="MSG_ALMANAC_GLO_DEP",ie.prototype.msg_type=113,ie.prototype.constructor=ie,ie.prototype.parser=(new o).endianess("little").nest("common",{type:re.prototype.parser}).doublele("lambda_na").doublele("t_lambda_na").doublele("i").doublele("t").doublele("t_dot").doublele("epsilon").doublele("omega"),ie.prototype.fieldSpec=[],ie.prototype.fieldSpec.push(["common",re.prototype.fieldSpec]),ie.prototype.fieldSpec.push(["lambda_na","writeDoubleLE",8]),ie.prototype.fieldSpec.push(["t_lambda_na","writeDoubleLE",8]),ie.prototype.fieldSpec.push(["i","writeDoubleLE",8]),ie.prototype.fieldSpec.push(["t","writeDoubleLE",8]),ie.prototype.fieldSpec.push(["t_dot","writeDoubleLE",8]),ie.prototype.fieldSpec.push(["epsilon","writeDoubleLE",8]),ie.prototype.fieldSpec.push(["omega","writeDoubleLE",8]);var se=function(e,t){return p.call(this,e),this.messageType="MSG_ALMANAC_GLO",this.fields=t||this.parser.parse(e.payload),this};(se.prototype=Object.create(p.prototype)).messageType="MSG_ALMANAC_GLO",se.prototype.msg_type=115,se.prototype.constructor=se,se.prototype.parser=(new o).endianess("little").nest("common",{type:te.prototype.parser}).doublele("lambda_na").doublele("t_lambda_na").doublele("i").doublele("t").doublele("t_dot").doublele("epsilon").doublele("omega"),se.prototype.fieldSpec=[],se.prototype.fieldSpec.push(["common",te.prototype.fieldSpec]),se.prototype.fieldSpec.push(["lambda_na","writeDoubleLE",8]),se.prototype.fieldSpec.push(["t_lambda_na","writeDoubleLE",8]),se.prototype.fieldSpec.push(["i","writeDoubleLE",8]),se.prototype.fieldSpec.push(["t","writeDoubleLE",8]),se.prototype.fieldSpec.push(["t_dot","writeDoubleLE",8]),se.prototype.fieldSpec.push(["epsilon","writeDoubleLE",8]),se.prototype.fieldSpec.push(["omega","writeDoubleLE",8]);var ne=function(e,t){return p.call(this,e),this.messageType="MSG_GLO_BIASES",this.fields=t||this.parser.parse(e.payload),this};(ne.prototype=Object.create(p.prototype)).messageType="MSG_GLO_BIASES",ne.prototype.msg_type=117,ne.prototype.constructor=ne,ne.prototype.parser=(new o).endianess("little").uint8("mask").int16("l1ca_bias").int16("l1p_bias").int16("l2ca_bias").int16("l2p_bias"),ne.prototype.fieldSpec=[],ne.prototype.fieldSpec.push(["mask","writeUInt8",1]),ne.prototype.fieldSpec.push(["l1ca_bias","writeInt16LE",2]),ne.prototype.fieldSpec.push(["l1p_bias","writeInt16LE",2]),ne.prototype.fieldSpec.push(["l2ca_bias","writeInt16LE",2]),ne.prototype.fieldSpec.push(["l2p_bias","writeInt16LE",2]);var ae=function(e,t){return p.call(this,e),this.messageType="SvAzEl",this.fields=t||this.parser.parse(e.payload),this};(ae.prototype=Object.create(p.prototype)).messageType="SvAzEl",ae.prototype.constructor=ae,ae.prototype.parser=(new o).endianess("little").nest("sid",{type:s.prototype.parser}).uint8("az").int8("el"),ae.prototype.fieldSpec=[],ae.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),ae.prototype.fieldSpec.push(["az","writeUInt8",1]),ae.prototype.fieldSpec.push(["el","writeInt8",1]);var le=function(e,t){return p.call(this,e),this.messageType="MSG_SV_AZ_EL",this.fields=t||this.parser.parse(e.payload),this};(le.prototype=Object.create(p.prototype)).messageType="MSG_SV_AZ_EL",le.prototype.msg_type=151,le.prototype.constructor=le,le.prototype.parser=(new o).endianess("little").array("azel",{type:ae.prototype.parser,readUntil:"eof"}),le.prototype.fieldSpec=[],le.prototype.fieldSpec.push(["azel","array",ae.prototype.fieldSpec,function(){return this.fields.array.length},null]);var ce=function(e,t){return p.call(this,e),this.messageType="MSG_OSR",this.fields=t||this.parser.parse(e.payload),this};(ce.prototype=Object.create(p.prototype)).messageType="MSG_OSR",ce.prototype.msg_type=1600,ce.prototype.constructor=ce,ce.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).array("obs",{type:f.prototype.parser,readUntil:"eof"}),ce.prototype.fieldSpec=[],ce.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),ce.prototype.fieldSpec.push(["obs","array",f.prototype.fieldSpec,function(){return this.fields.array.length},null]),e.exports={ObservationHeader:u,Doppler:y,PackedObsContent:h,PackedOsrContent:f,74:d,MsgObs:d,68:_,MsgBasePosLlh:_,72:S,MsgBasePosEcef:S,EphemerisCommonContent:g,EphemerisCommonContentDepB:w,EphemerisCommonContentDepA:E,129:m,MsgEphemerisGpsDepE:m,134:b,MsgEphemerisGpsDepF:b,138:v,MsgEphemerisGps:v,142:L,MsgEphemerisQzss:L,137:I,MsgEphemerisBds:I,149:T,MsgEphemerisGalDepA:T,141:U,MsgEphemerisGal:U,130:M,MsgEphemerisSbasDepA:M,131:D,MsgEphemerisGloDepA:D,132:O,MsgEphemerisSbasDepB:O,140:G,MsgEphemerisSbas:G,133:A,MsgEphemerisGloDepB:A,135:C,MsgEphemerisGloDepC:C,136:R,MsgEphemerisGloDepD:R,139:P,MsgEphemerisGlo:P,128:N,MsgEphemerisDepD:N,26:j,MsgEphemerisDepA:j,70:x,MsgEphemerisDepB:x,71:k,MsgEphemerisDepC:k,ObservationHeaderDep:F,CarrierPhaseDepA:B,PackedObsContentDepA:q,PackedObsContentDepB:z,PackedObsContentDepC:V,69:H,MsgObsDepA:H,67:Y,MsgObsDepB:Y,73:W,MsgObsDepC:W,144:Q,MsgIono:Q,145:K,MsgSvConfigurationGpsDep:K,GnssCapb:X,150:J,MsgGnssCapb:J,146:$,MsgGroupDelayDepA:$,147:Z,MsgGroupDelayDepB:Z,148:ee,MsgGroupDelay:ee,AlmanacCommonContent:te,AlmanacCommonContentDep:re,112:pe,MsgAlmanacGpsDep:pe,114:oe,MsgAlmanacGps:oe,113:ie,MsgAlmanacGloDep:ie,115:se,MsgAlmanacGlo:se,117:ne,MsgGloBiases:ne,SvAzEl:ae,151:le,MsgSvAzEl:le,1600:ce,MsgOsr:ce}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_BASELINE_HEADING",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_BASELINE_HEADING",i.prototype.msg_type=527,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").uint32("heading").uint8("n_sats").uint8("flags"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["heading","writeUInt32LE",4]),i.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_ORIENT_QUAT",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_ORIENT_QUAT",s.prototype.msg_type=544,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint32("tow").int32("w").int32("x").int32("y").int32("z").floatle("w_accuracy").floatle("x_accuracy").floatle("y_accuracy").floatle("z_accuracy").uint8("flags"),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),s.prototype.fieldSpec.push(["w","writeInt32LE",4]),s.prototype.fieldSpec.push(["x","writeInt32LE",4]),s.prototype.fieldSpec.push(["y","writeInt32LE",4]),s.prototype.fieldSpec.push(["z","writeInt32LE",4]),s.prototype.fieldSpec.push(["w_accuracy","writeFloatLE",4]),s.prototype.fieldSpec.push(["x_accuracy","writeFloatLE",4]),s.prototype.fieldSpec.push(["y_accuracy","writeFloatLE",4]),s.prototype.fieldSpec.push(["z_accuracy","writeFloatLE",4]),s.prototype.fieldSpec.push(["flags","writeUInt8",1]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_ORIENT_EULER",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_ORIENT_EULER",n.prototype.msg_type=545,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint32("tow").int32("roll").int32("pitch").int32("yaw").floatle("roll_accuracy").floatle("pitch_accuracy").floatle("yaw_accuracy").uint8("flags"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),n.prototype.fieldSpec.push(["roll","writeInt32LE",4]),n.prototype.fieldSpec.push(["pitch","writeInt32LE",4]),n.prototype.fieldSpec.push(["yaw","writeInt32LE",4]),n.prototype.fieldSpec.push(["roll_accuracy","writeFloatLE",4]),n.prototype.fieldSpec.push(["pitch_accuracy","writeFloatLE",4]),n.prototype.fieldSpec.push(["yaw_accuracy","writeFloatLE",4]),n.prototype.fieldSpec.push(["flags","writeUInt8",1]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_ANGULAR_RATE",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_ANGULAR_RATE",a.prototype.msg_type=546,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint32("tow").int32("x").int32("y").int32("z").uint8("flags"),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),a.prototype.fieldSpec.push(["x","writeInt32LE",4]),a.prototype.fieldSpec.push(["y","writeInt32LE",4]),a.prototype.fieldSpec.push(["z","writeInt32LE",4]),a.prototype.fieldSpec.push(["flags","writeUInt8",1]),e.exports={527:i,MsgBaselineHeading:i,544:s,MsgOrientQuat:s,545:n,MsgOrientEuler:n,546:a,MsgAngularRate:a}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).CarrierPhase,r(0).GnssSignal),s=r(0).GnssSignalDep,n=r(0).GPSTime,a=r(0).GPSTimeDep,l=(r(0).GPSTimeSec,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_ALMANAC",this.fields=t||this.parser.parse(e.payload),this});(l.prototype=Object.create(p.prototype)).messageType="MSG_ALMANAC",l.prototype.msg_type=105,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little"),l.prototype.fieldSpec=[];var c=function(e,t){return p.call(this,e),this.messageType="MSG_SET_TIME",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_SET_TIME",c.prototype.msg_type=104,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little"),c.prototype.fieldSpec=[];var u=function(e,t){return p.call(this,e),this.messageType="MSG_RESET",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_RESET",u.prototype.msg_type=182,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("flags"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_RESET_DEP",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_RESET_DEP",y.prototype.msg_type=178,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little"),y.prototype.fieldSpec=[];var h=function(e,t){return p.call(this,e),this.messageType="MSG_CW_RESULTS",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_CW_RESULTS",h.prototype.msg_type=192,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little"),h.prototype.fieldSpec=[];var f=function(e,t){return p.call(this,e),this.messageType="MSG_CW_START",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_CW_START",f.prototype.msg_type=193,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little"),f.prototype.fieldSpec=[];var d=function(e,t){return p.call(this,e),this.messageType="MSG_RESET_FILTERS",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="MSG_RESET_FILTERS",d.prototype.msg_type=34,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").uint8("filter"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["filter","writeUInt8",1]);var _=function(e,t){return p.call(this,e),this.messageType="MSG_INIT_BASE_DEP",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="MSG_INIT_BASE_DEP",_.prototype.msg_type=35,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little"),_.prototype.fieldSpec=[];var S=function(e,t){return p.call(this,e),this.messageType="MSG_THREAD_STATE",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_THREAD_STATE",S.prototype.msg_type=23,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").string("name",{length:20}).uint16("cpu").uint32("stack_free"),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["name","string",20]),S.prototype.fieldSpec.push(["cpu","writeUInt16LE",2]),S.prototype.fieldSpec.push(["stack_free","writeUInt32LE",4]);var g=function(e,t){return p.call(this,e),this.messageType="UARTChannel",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.prototype)).messageType="UARTChannel",g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").floatle("tx_throughput").floatle("rx_throughput").uint16("crc_error_count").uint16("io_error_count").uint8("tx_buffer_level").uint8("rx_buffer_level"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["tx_throughput","writeFloatLE",4]),g.prototype.fieldSpec.push(["rx_throughput","writeFloatLE",4]),g.prototype.fieldSpec.push(["crc_error_count","writeUInt16LE",2]),g.prototype.fieldSpec.push(["io_error_count","writeUInt16LE",2]),g.prototype.fieldSpec.push(["tx_buffer_level","writeUInt8",1]),g.prototype.fieldSpec.push(["rx_buffer_level","writeUInt8",1]);var w=function(e,t){return p.call(this,e),this.messageType="Period",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="Period",w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").int32("avg").int32("pmin").int32("pmax").int32("current"),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["avg","writeInt32LE",4]),w.prototype.fieldSpec.push(["pmin","writeInt32LE",4]),w.prototype.fieldSpec.push(["pmax","writeInt32LE",4]),w.prototype.fieldSpec.push(["current","writeInt32LE",4]);var E=function(e,t){return p.call(this,e),this.messageType="Latency",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="Latency",E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").int32("avg").int32("lmin").int32("lmax").int32("current"),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["avg","writeInt32LE",4]),E.prototype.fieldSpec.push(["lmin","writeInt32LE",4]),E.prototype.fieldSpec.push(["lmax","writeInt32LE",4]),E.prototype.fieldSpec.push(["current","writeInt32LE",4]);var m=function(e,t){return p.call(this,e),this.messageType="MSG_UART_STATE",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_UART_STATE",m.prototype.msg_type=29,m.prototype.constructor=m,m.prototype.parser=(new o).endianess("little").nest("uart_a",{type:g.prototype.parser}).nest("uart_b",{type:g.prototype.parser}).nest("uart_ftdi",{type:g.prototype.parser}).nest("latency",{type:E.prototype.parser}).nest("obs_period",{type:w.prototype.parser}),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["uart_a",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["uart_b",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["uart_ftdi",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["latency",E.prototype.fieldSpec]),m.prototype.fieldSpec.push(["obs_period",w.prototype.fieldSpec]);var b=function(e,t){return p.call(this,e),this.messageType="MSG_UART_STATE_DEPA",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_UART_STATE_DEPA",b.prototype.msg_type=24,b.prototype.constructor=b,b.prototype.parser=(new o).endianess("little").nest("uart_a",{type:g.prototype.parser}).nest("uart_b",{type:g.prototype.parser}).nest("uart_ftdi",{type:g.prototype.parser}).nest("latency",{type:E.prototype.parser}),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["uart_a",g.prototype.fieldSpec]),b.prototype.fieldSpec.push(["uart_b",g.prototype.fieldSpec]),b.prototype.fieldSpec.push(["uart_ftdi",g.prototype.fieldSpec]),b.prototype.fieldSpec.push(["latency",E.prototype.fieldSpec]);var v=function(e,t){return p.call(this,e),this.messageType="MSG_IAR_STATE",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_IAR_STATE",v.prototype.msg_type=25,v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").uint32("num_hyps"),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["num_hyps","writeUInt32LE",4]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE",L.prototype.msg_type=43,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:i.prototype.parser}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["mask","writeUInt8",1]),L.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]);var I=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE_DEP",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE_DEP",I.prototype.msg_type=27,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:s.prototype.parser}),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["mask","writeUInt8",1]),I.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]);var T=function(e,t){return p.call(this,e),this.messageType="MSG_DEVICE_MONITOR",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="MSG_DEVICE_MONITOR",T.prototype.msg_type=181,T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").int16("dev_vin").int16("cpu_vint").int16("cpu_vaux").int16("cpu_temperature").int16("fe_temperature"),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["dev_vin","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_vint","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_vaux","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_temperature","writeInt16LE",2]),T.prototype.fieldSpec.push(["fe_temperature","writeInt16LE",2]);var U=function(e,t){return p.call(this,e),this.messageType="MSG_COMMAND_REQ",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_REQ",U.prototype.msg_type=184,U.prototype.constructor=U,U.prototype.parser=(new o).endianess("little").uint32("sequence").string("command",{greedy:!0}),U.prototype.fieldSpec=[],U.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),U.prototype.fieldSpec.push(["command","string",null]);var M=function(e,t){return p.call(this,e),this.messageType="MSG_COMMAND_RESP",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_RESP",M.prototype.msg_type=185,M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").uint32("sequence").int32("code"),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),M.prototype.fieldSpec.push(["code","writeInt32LE",4]);var D=function(e,t){return p.call(this,e),this.messageType="MSG_COMMAND_OUTPUT",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_OUTPUT",D.prototype.msg_type=188,D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").uint32("sequence").string("line",{greedy:!0}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),D.prototype.fieldSpec.push(["line","string",null]);var O=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_STATE_REQ",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_STATE_REQ",O.prototype.msg_type=186,O.prototype.constructor=O,O.prototype.parser=(new o).endianess("little"),O.prototype.fieldSpec=[];var G=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_STATE_RESP",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_STATE_RESP",G.prototype.msg_type=187,G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").array("ipv4_address",{length:4,type:"uint8"}).uint8("ipv4_mask_size").array("ipv6_address",{length:16,type:"uint8"}).uint8("ipv6_mask_size").uint32("rx_bytes").uint32("tx_bytes").string("interface_name",{length:16}).uint32("flags"),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["ipv4_address","array","writeUInt8",function(){return 1},4]),G.prototype.fieldSpec.push(["ipv4_mask_size","writeUInt8",1]),G.prototype.fieldSpec.push(["ipv6_address","array","writeUInt8",function(){return 1},16]),G.prototype.fieldSpec.push(["ipv6_mask_size","writeUInt8",1]),G.prototype.fieldSpec.push(["rx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["tx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["interface_name","string",16]),G.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var A=function(e,t){return p.call(this,e),this.messageType="NetworkUsage",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(p.prototype)).messageType="NetworkUsage",A.prototype.constructor=A,A.prototype.parser=(new 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R=function(e,t){return p.call(this,e),this.messageType="MSG_CELL_MODEM_STATUS",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(p.prototype)).messageType="MSG_CELL_MODEM_STATUS",R.prototype.msg_type=190,R.prototype.constructor=R,R.prototype.parser=(new o).endianess("little").int8("signal_strength").floatle("signal_error_rate").array("reserved",{type:"uint8",readUntil:"eof"}),R.prototype.fieldSpec=[],R.prototype.fieldSpec.push(["signal_strength","writeInt8",1]),R.prototype.fieldSpec.push(["signal_error_rate","writeFloatLE",4]),R.prototype.fieldSpec.push(["reserved","array","writeUInt8",function(){return 1},null]);var P=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN_DEP",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN_DEP",P.prototype.msg_type=80,P.prototype.constructor=P,P.prototype.parser=(new o).endianess("little").uint16("channel_tag").nest("t",{type:a.prototype.parser}).floatle("freq_ref").floatle("freq_step").floatle("amplitude_ref").floatle("amplitude_unit").array("amplitude_value",{type:"uint8",readUntil:"eof"}),P.prototype.fieldSpec=[],P.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),P.prototype.fieldSpec.push(["t",a.prototype.fieldSpec]),P.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),P.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),P.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),P.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),P.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var N=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN",this.fields=t||this.parser.parse(e.payload),this};(N.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN",N.prototype.msg_type=81,N.prototype.constructor=N,N.prototype.parser=(new o).endianess("little").uint16("channel_tag").nest("t",{type:n.prototype.parser}).floatle("freq_ref").floatle("freq_step").floatle("amplitude_ref").floatle("amplitude_unit").array("amplitude_value",{type:"uint8",readUntil:"eof"}),N.prototype.fieldSpec=[],N.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),N.prototype.fieldSpec.push(["t",n.prototype.fieldSpec]),N.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),N.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),N.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),N.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),N.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var j=function(e,t){return p.call(this,e),this.messageType="MSG_FRONT_END_GAIN",this.fields=t||this.parser.parse(e.payload),this};(j.prototype=Object.create(p.prototype)).messageType="MSG_FRONT_END_GAIN",j.prototype.msg_type=191,j.prototype.constructor=j,j.prototype.parser=(new o).endianess("little").array("rf_gain",{length:8,type:"int8"}).array("if_gain",{length:8,type:"int8"}),j.prototype.fieldSpec=[],j.prototype.fieldSpec.push(["rf_gain","array","writeInt8",function(){return 1},8]),j.prototype.fieldSpec.push(["if_gain","array","writeInt8",function(){return 1},8]),e.exports={105:l,MsgAlmanac:l,104:c,MsgSetTime:c,182:u,MsgReset:u,178:y,MsgResetDep:y,192:h,MsgCwResults:h,193:f,MsgCwStart:f,34:d,MsgResetFilters:d,35:_,MsgInitBaseDep:_,23:S,MsgThreadState:S,UARTChannel:g,Period:w,Latency:E,29:m,MsgUartState:m,24:b,MsgUartStateDepa:b,25:v,MsgIarState:v,43:L,MsgMaskSatellite:L,27:I,MsgMaskSatelliteDep:I,181:T,MsgDeviceMonitor:T,184:U,MsgCommandReq:U,185:M,MsgCommandResp:M,188:D,MsgCommandOutput:D,186:O,MsgNetworkStateReq:O,187:G,MsgNetworkStateResp:G,NetworkUsage:A,189:C,MsgNetworkBandwidthUsage:C,190:R,MsgCellModemStatus:R,80:P,MsgSpecanDep:P,81:N,MsgSpecan:N,191:j,MsgFrontEndGain:j}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).CarrierPhase,r(0).GnssSignal),s=(r(0).GnssSignalDep,r(0).GPSTime,r(0).GPSTimeDep,r(0).GPSTimeSec,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_SBAS_RAW",this.fields=t||this.parser.parse(e.payload),this});(s.prototype=Object.create(p.prototype)).messageType="MSG_SBAS_RAW",s.prototype.msg_type=30583,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint32("tow").uint8("message_type").array("data",{length:27,type:"uint8"}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),s.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),s.prototype.fieldSpec.push(["message_type","writeUInt8",1]),s.prototype.fieldSpec.push(["data","array","writeUInt8",function(){return 1},27]),e.exports={30583:s,MsgSbasRaw:s}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_SAVE",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_SAVE",i.prototype.msg_type=161,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little"),i.prototype.fieldSpec=[];var s=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_WRITE",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_WRITE",s.prototype.msg_type=160,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").string("setting",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["setting","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_WRITE_RESP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_WRITE_RESP",n.prototype.msg_type=175,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint8("status").string("setting",{greedy:!0}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["status","writeUInt8",1]),n.prototype.fieldSpec.push(["setting","string",null]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_READ_REQ",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_READ_REQ",a.prototype.msg_type=164,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").string("setting",{greedy:!0}),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["setting","string",null]);var l=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_READ_RESP",l.prototype.msg_type=165,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").string("setting",{greedy:!0}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["setting","string",null]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_READ_BY_INDEX_REQ",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_READ_BY_INDEX_REQ",c.prototype.msg_type=162,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint16("index"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["index","writeUInt16LE",2]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_READ_BY_INDEX_RESP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_READ_BY_INDEX_RESP",u.prototype.msg_type=167,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint16("index").string("setting",{greedy:!0}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["index","writeUInt16LE",2]),u.prototype.fieldSpec.push(["setting","string",null]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_READ_BY_INDEX_DONE",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_READ_BY_INDEX_DONE",y.prototype.msg_type=166,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little"),y.prototype.fieldSpec=[];var h=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_REGISTER",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_REGISTER",h.prototype.msg_type=174,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").string("setting",{greedy:!0}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["setting","string",null]);var f=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_REGISTER_RESP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_REGISTER_RESP",f.prototype.msg_type=431,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").uint8("status").string("setting",{greedy:!0}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["status","writeUInt8",1]),f.prototype.fieldSpec.push(["setting","string",null]),e.exports={161:i,MsgSettingsSave:i,160:s,MsgSettingsWrite:s,175:n,MsgSettingsWriteResp:n,164:a,MsgSettingsReadReq:a,165:l,MsgSettingsReadResp:l,162:c,MsgSettingsReadByIndexReq:c,167:u,MsgSettingsReadByIndexResp:u,166:y,MsgSettingsReadByIndexDone:y,174:h,MsgSettingsRegister:h,431:f,MsgSettingsRegisterResp:f}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="SolutionInputType",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="SolutionInputType",i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint8("sensor_type").uint8("flags"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["sensor_type","writeUInt8",1]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_SOLN_META_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_SOLN_META_DEP_A",s.prototype.msg_type=65295,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint16("pdop").uint16("hdop").uint16("vdop").uint8("n_sats").uint16("age_corrections").uint8("alignment_status").uint32("last_used_gnss_pos_tow").uint32("last_used_gnss_vel_tow").array("sol_in",{type:i.prototype.parser,readUntil:"eof"}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["pdop","writeUInt16LE",2]),s.prototype.fieldSpec.push(["hdop","writeUInt16LE",2]),s.prototype.fieldSpec.push(["vdop","writeUInt16LE",2]),s.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),s.prototype.fieldSpec.push(["age_corrections","writeUInt16LE",2]),s.prototype.fieldSpec.push(["alignment_status","writeUInt8",1]),s.prototype.fieldSpec.push(["last_used_gnss_pos_tow","writeUInt32LE",4]),s.prototype.fieldSpec.push(["last_used_gnss_vel_tow","writeUInt32LE",4]),s.prototype.fieldSpec.push(["sol_in","array",i.prototype.fieldSpec,function(){return this.fields.array.length},null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_SOLN_META",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_SOLN_META",n.prototype.msg_type=65294,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint32("tow").uint16("pdop").uint16("hdop").uint16("vdop").uint16("age_corrections").uint32("age_gnss").array("sol_in",{type:i.prototype.parser,readUntil:"eof"}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),n.prototype.fieldSpec.push(["pdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["hdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["vdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["age_corrections","writeUInt16LE",2]),n.prototype.fieldSpec.push(["age_gnss","writeUInt32LE",4]),n.prototype.fieldSpec.push(["sol_in","array",i.prototype.fieldSpec,function(){return this.fields.array.length},null]);var a=function(e,t){return p.call(this,e),this.messageType="GNSSInputType",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="GNSSInputType",a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint8("flags"),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["flags","writeUInt8",1]);var l=function(e,t){return p.call(this,e),this.messageType="IMUInputType",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="IMUInputType",l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").uint8("flags"),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["flags","writeUInt8",1]);var c=function(e,t){return p.call(this,e),this.messageType="OdoInputType",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="OdoInputType",c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint8("flags"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["flags","writeUInt8",1]),e.exports={SolutionInputType:i,65295:s,MsgSolnMetaDepA:s,65294:n,MsgSolnMeta:n,GNSSInputType:a,IMUInputType:l,OdoInputType:c}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).CarrierPhase,r(0).GnssSignal),s=(r(0).GnssSignalDep,r(0).GPSTime,r(0).GPSTimeDep,r(0).GPSTimeSec),n=r(0).SvId,a=function(e,t){return p.call(this,e),this.messageType="CodeBiasesContent",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="CodeBiasesContent",a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint8("code").int16("value"),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["code","writeUInt8",1]),a.prototype.fieldSpec.push(["value","writeInt16LE",2]);var l=function(e,t){return p.call(this,e),this.messageType="PhaseBiasesContent",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="PhaseBiasesContent",l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").uint8("code").uint8("integer_indicator").uint8("widelane_integer_indicator").uint8("discontinuity_counter").int32("bias"),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["code","writeUInt8",1]),l.prototype.fieldSpec.push(["integer_indicator","writeUInt8",1]),l.prototype.fieldSpec.push(["widelane_integer_indicator","writeUInt8",1]),l.prototype.fieldSpec.push(["discontinuity_counter","writeUInt8",1]),l.prototype.fieldSpec.push(["bias","writeInt32LE",4]);var c=function(e,t){return p.call(this,e),this.messageType="STECHeader",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="STECHeader",c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint16("tile_set_id").uint16("tile_id").nest("time",{type:s.prototype.parser}).uint8("num_msgs").uint8("seq_num").uint8("update_interval").uint8("iod_atmo"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["tile_set_id","writeUInt16LE",2]),c.prototype.fieldSpec.push(["tile_id","writeUInt16LE",2]),c.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),c.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),c.prototype.fieldSpec.push(["seq_num","writeUInt8",1]),c.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),c.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]);var u=function(e,t){return p.call(this,e),this.messageType="GriddedCorrectionHeader",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="GriddedCorrectionHeader",u.prototype.constructor=u,u.prototype.parser=(new 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p.call(this,e),this.messageType="TroposphericDelayCorrection",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="TroposphericDelayCorrection",f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").int16("hydro").int8("wet").uint8("stddev"),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["hydro","writeInt16LE",2]),f.prototype.fieldSpec.push(["wet","writeInt8",1]),f.prototype.fieldSpec.push(["stddev","writeUInt8",1]);var d=function(e,t){return p.call(this,e),this.messageType="STECResidualNoStd",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="STECResidualNoStd",d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").nest("sv_id",{type:n.prototype.parser}).int16("residual"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["sv_id",n.prototype.fieldSpec]),d.prototype.fieldSpec.push(["residual","writeInt16LE",2]);var _=function(e,t){return p.call(this,e),this.messageType="STECResidual",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="STECResidual",_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").nest("sv_id",{type:n.prototype.parser}).int16("residual").uint8("stddev"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["sv_id",n.prototype.fieldSpec]),_.prototype.fieldSpec.push(["residual","writeInt16LE",2]),_.prototype.fieldSpec.push(["stddev","writeUInt8",1]);var S=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_SSR_ORBIT_CLOCK",S.prototype.msg_type=1501,S.prototype.constructor=S,S.prototype.parser=(new 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g=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_CODE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.prototype)).messageType="MSG_SSR_CODE_BIASES",g.prototype.msg_type=1505,g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").array("biases",{type:a.prototype.parser,readUntil:"eof"}),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),g.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),g.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),g.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),g.prototype.fieldSpec.push(["biases","array",a.prototype.fieldSpec,function(){return this.fields.array.length},null]);var w=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_PHASE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="MSG_SSR_PHASE_BIASES",w.prototype.msg_type=1510,w.prototype.constructor=w,w.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION",E.prototype.msg_type=1531,E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").nest("header",{type:c.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["header",c.prototype.fieldSpec]),E.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var m=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION",m.prototype.msg_type=1532,m.prototype.constructor=m,m.prototype.parser=(new 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p.call(this,e),this.messageType="SatelliteAPC",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="SatelliteAPC",v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint8("sat_info").uint16("svn").array("pco",{length:3,type:"int16le"}).array("pcv",{length:21,type:"int8"}),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),v.prototype.fieldSpec.push(["sat_info","writeUInt8",1]),v.prototype.fieldSpec.push(["svn","writeUInt16LE",2]),v.prototype.fieldSpec.push(["pco","array","writeInt16LE",function(){return 2},3]),v.prototype.fieldSpec.push(["pcv","array","writeInt8",function(){return 1},21]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_SATELLITE_APC",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_SSR_SATELLITE_APC",L.prototype.msg_type=1540,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").array("apc",{type:v.prototype.parser,readUntil:"eof"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["apc","array",v.prototype.fieldSpec,function(){return this.fields.array.length},null]);var I=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",I.prototype.msg_type=1500,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").uint8("iod").int32("radial").int32("along").int32("cross").int32("dot_radial").int32("dot_along").int32("dot_cross").int32("c0").int32("c1").int32("c2"),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),I.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),I.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),I.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),I.prototype.fieldSpec.push(["iod","writeUInt8",1]),I.prototype.fieldSpec.push(["radial","writeInt32LE",4]),I.prototype.fieldSpec.push(["along","writeInt32LE",4]),I.prototype.fieldSpec.push(["cross","writeInt32LE",4]),I.prototype.fieldSpec.push(["dot_radial","writeInt32LE",4]),I.prototype.fieldSpec.push(["dot_along","writeInt32LE",4]),I.prototype.fieldSpec.push(["dot_cross","writeInt32LE",4]),I.prototype.fieldSpec.push(["c0","writeInt32LE",4]),I.prototype.fieldSpec.push(["c1","writeInt32LE",4]),I.prototype.fieldSpec.push(["c2","writeInt32LE",4]);var T=function(e,t){return p.call(this,e),this.messageType="STECHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="STECHeaderDepA",T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint8("num_msgs").uint8("seq_num").uint8("update_interval").uint8("iod_atmo"),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),T.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),T.prototype.fieldSpec.push(["seq_num","writeUInt8",1]),T.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),T.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]);var U=function(e,t){return p.call(this,e),this.messageType="GriddedCorrectionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(p.prototype)).messageType="GriddedCorrectionHeaderDepA",U.prototype.constructor=U,U.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint16("num_msgs").uint16("seq_num").uint8("update_interval").uint8("iod_atmo").uint8("tropo_quality_indicator"),U.prototype.fieldSpec=[],U.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),U.prototype.fieldSpec.push(["num_msgs","writeUInt16LE",2]),U.prototype.fieldSpec.push(["seq_num","writeUInt16LE",2]),U.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),U.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]),U.prototype.fieldSpec.push(["tropo_quality_indicator","writeUInt8",1]);var M=function(e,t){return p.call(this,e),this.messageType="GridDefinitionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(p.prototype)).messageType="GridDefinitionHeaderDepA",M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").uint8("region_size_inverse").uint16("area_width").uint16("lat_nw_corner_enc").uint16("lon_nw_corner_enc").uint8("num_msgs").uint8("seq_num"),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["region_size_inverse","writeUInt8",1]),M.prototype.fieldSpec.push(["area_width","writeUInt16LE",2]),M.prototype.fieldSpec.push(["lat_nw_corner_enc","writeUInt16LE",2]),M.prototype.fieldSpec.push(["lon_nw_corner_enc","writeUInt16LE",2]),M.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),M.prototype.fieldSpec.push(["seq_num","writeUInt8",1]);var D=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION_DEP_A",D.prototype.msg_type=1515,D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").nest("header",{type:T.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["header",T.prototype.fieldSpec]),D.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var O=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A",O.prototype.msg_type=1520,O.prototype.constructor=O,O.prototype.parser=(new o).endianess("little").nest("header",{type:U.prototype.parser}).uint16("index").nest("tropo_delay_correction",{type:h.prototype.parser}).array("stec_residuals",{type:d.prototype.parser,readUntil:"eof"}),O.prototype.fieldSpec=[],O.prototype.fieldSpec.push(["header",U.prototype.fieldSpec]),O.prototype.fieldSpec.push(["index","writeUInt16LE",2]),O.prototype.fieldSpec.push(["tropo_delay_correction",h.prototype.fieldSpec]),O.prototype.fieldSpec.push(["stec_residuals","array",d.prototype.fieldSpec,function(){return this.fields.array.length},null]);var G=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_DEP_A",G.prototype.msg_type=1530,G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").nest("header",{type:U.prototype.parser}).uint16("index").nest("tropo_delay_correction",{type:f.prototype.parser}).array("stec_residuals",{type:_.prototype.parser,readUntil:"eof"}),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["header",U.prototype.fieldSpec]),G.prototype.fieldSpec.push(["index","writeUInt16LE",2]),G.prototype.fieldSpec.push(["tropo_delay_correction",f.prototype.fieldSpec]),G.prototype.fieldSpec.push(["stec_residuals","array",_.prototype.fieldSpec,function(){return this.fields.array.length},null]);var A=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRID_DEFINITION_DEP_A",A.prototype.msg_type=1525,A.prototype.constructor=A,A.prototype.parser=(new o).endianess("little").nest("header",{type:M.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),A.prototype.fieldSpec=[],A.prototype.fieldSpec.push(["header",M.prototype.fieldSpec]),A.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]),e.exports={CodeBiasesContent:a,PhaseBiasesContent:l,STECHeader:c,GriddedCorrectionHeader:u,STECSatElement:y,TroposphericDelayCorrectionNoStd:h,TroposphericDelayCorrection:f,STECResidualNoStd:d,STECResidual:_,1501:S,MsgSsrOrbitClock:S,1505:g,MsgSsrCodeBiases:g,1510:w,MsgSsrPhaseBiases:w,1531:E,MsgSsrStecCorrection:E,1532:m,MsgSsrGriddedCorrection:m,1526:b,MsgSsrTileDefinition:b,SatelliteAPC:v,1540:L,MsgSsrSatelliteApc:L,1500:I,MsgSsrOrbitClockDepA:I,STECHeaderDepA:T,GriddedCorrectionHeaderDepA:U,GridDefinitionHeaderDepA:M,1515:D,MsgSsrStecCorrectionDepA:D,1520:O,MsgSsrGriddedCorrectionNoStdDepA:O,1530:G,MsgSsrGriddedCorrectionDepA:G,1525:A,MsgSsrGridDefinitionDepA:A}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_STARTUP",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_STARTUP",i.prototype.msg_type=65280,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint8("cause").uint8("startup_type").uint16("reserved"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["cause","writeUInt8",1]),i.prototype.fieldSpec.push(["startup_type","writeUInt8",1]),i.prototype.fieldSpec.push(["reserved","writeUInt16LE",2]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_DGNSS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_DGNSS_STATUS",s.prototype.msg_type=65282,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("flags").uint16("latency").uint8("num_signals").string("source",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["flags","writeUInt8",1]),s.prototype.fieldSpec.push(["latency","writeUInt16LE",2]),s.prototype.fieldSpec.push(["num_signals","writeUInt8",1]),s.prototype.fieldSpec.push(["source","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_HEARTBEAT",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_HEARTBEAT",n.prototype.msg_type=65535,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint32("flags"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var a=function(e,t){return p.call(this,e),this.messageType="SubSystemReport",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="SubSystemReport",a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint16("component").uint8("generic").uint8("specific"),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["component","writeUInt16LE",2]),a.prototype.fieldSpec.push(["generic","writeUInt8",1]),a.prototype.fieldSpec.push(["specific","writeUInt8",1]);var l=function(e,t){return p.call(this,e),this.messageType="MSG_STATUS_REPORT",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_STATUS_REPORT",l.prototype.msg_type=65534,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").uint16("reporting_system").uint16("sbp_version").uint32("sequence").uint32("uptime").array("status",{type:a.prototype.parser,readUntil:"eof"}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["reporting_system","writeUInt16LE",2]),l.prototype.fieldSpec.push(["sbp_version","writeUInt16LE",2]),l.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),l.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),l.prototype.fieldSpec.push(["status","array",a.prototype.fieldSpec,function(){return this.fields.array.length},null]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_INS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_INS_STATUS",c.prototype.msg_type=65283,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("flags"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_CSAC_TELEMETRY",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_CSAC_TELEMETRY",u.prototype.msg_type=65284,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry",{greedy:!0}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["id","writeUInt8",1]),u.prototype.fieldSpec.push(["telemetry","string",null]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_CSAC_TELEMETRY_LABELS",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_CSAC_TELEMETRY_LABELS",y.prototype.msg_type=65285,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry_labels",{greedy:!0}),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["id","writeUInt8",1]),y.prototype.fieldSpec.push(["telemetry_labels","string",null]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_INS_UPDATES",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_INS_UPDATES",h.prototype.msg_type=65286,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").uint32("tow").uint8("gnsspos").uint8("gnssvel").uint8("wheelticks").uint8("speed").uint8("nhc").uint8("zerovel"),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),h.prototype.fieldSpec.push(["gnsspos","writeUInt8",1]),h.prototype.fieldSpec.push(["gnssvel","writeUInt8",1]),h.prototype.fieldSpec.push(["wheelticks","writeUInt8",1]),h.prototype.fieldSpec.push(["speed","writeUInt8",1]),h.prototype.fieldSpec.push(["nhc","writeUInt8",1]),h.prototype.fieldSpec.push(["zerovel","writeUInt8",1]);var f=function(e,t){return p.call(this,e),this.messageType="MSG_GNSS_TIME_OFFSET",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_GNSS_TIME_OFFSET",f.prototype.msg_type=65287,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").int16("weeks").int32("milliseconds").int16("microseconds").uint8("flags"),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["weeks","writeInt16LE",2]),f.prototype.fieldSpec.push(["milliseconds","writeInt32LE",4]),f.prototype.fieldSpec.push(["microseconds","writeInt16LE",2]),f.prototype.fieldSpec.push(["flags","writeUInt8",1]);var d=function(e,t){return p.call(this,e),this.messageType="MSG_PPS_TIME",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="MSG_PPS_TIME",d.prototype.msg_type=65288,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").uint64("time").uint8("flags"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["time","writeUInt64LE",8]),d.prototype.fieldSpec.push(["flags","writeUInt8",1]);var _=function(e,t){return p.call(this,e),this.messageType="MSG_SENSOR_AID_EVENT",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="MSG_SENSOR_AID_EVENT",_.prototype.msg_type=65289,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").uint32("time").uint8("sensor_type").uint16("sensor_id").uint8("sensor_state").uint8("n_available_meas").uint8("n_attempted_meas").uint8("n_accepted_meas").uint32("flags"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["time","writeUInt32LE",4]),_.prototype.fieldSpec.push(["sensor_type","writeUInt8",1]),_.prototype.fieldSpec.push(["sensor_id","writeUInt16LE",2]),_.prototype.fieldSpec.push(["sensor_state","writeUInt8",1]),_.prototype.fieldSpec.push(["n_available_meas","writeUInt8",1]),_.prototype.fieldSpec.push(["n_attempted_meas","writeUInt8",1]),_.prototype.fieldSpec.push(["n_accepted_meas","writeUInt8",1]),_.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var S=function(e,t){return p.call(this,e),this.messageType="MSG_GROUP_META",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_GROUP_META",S.prototype.msg_type=65290,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").uint8("group_id").uint8("flags").uint8("n_group_msgs").array("group_msgs",{type:"uint16le",length:"n_group_msgs"}),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["group_id","writeUInt8",1]),S.prototype.fieldSpec.push(["flags","writeUInt8",1]),S.prototype.fieldSpec.push(["n_group_msgs","writeUInt8",1]),S.prototype.fieldSpec.push(["group_msgs","array","writeUInt16LE",function(){return 2},"n_group_msgs"]),e.exports={65280:i,MsgStartup:i,65282:s,MsgDgnssStatus:s,65535:n,MsgHeartbeat:n,SubSystemReport:a,65534:l,MsgStatusReport:l,65283:c,MsgInsStatus:c,65284:u,MsgCsacTelemetry:u,65285:y,MsgCsacTelemetryLabels:y,65286:h,MsgInsUpdates:h,65287:f,MsgGnssTimeOffset:f,65288:d,MsgPpsTime:d,65289:_,MsgSensorAidEvent:_,65290:S,MsgGroupMeta:S}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).CarrierPhase),s=r(0).GnssSignal,n=r(0).GnssSignalDep,a=r(0).GPSTime,l=r(0).GPSTimeDep,c=(r(0).GPSTimeSec,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",this.fields=t||this.parser.parse(e.payload),this});(c.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",c.prototype.msg_type=33,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint64("recv_time").nest("tot",{type:a.prototype.parser}).uint32("P").uint16("P_std").nest("L",{type:i.prototype.parser}).uint8("cn0").uint16("lock").nest("sid",{type:s.prototype.parser}).int32("doppler").uint16("doppler_std").uint32("uptime").int16("clock_offset").int16("clock_drift").uint16("corr_spacing").int8("acceleration").uint8("sync_flags").uint8("tow_flags").uint8("track_flags").uint8("nav_flags").uint8("pset_flags").uint8("misc_flags"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["recv_time","writeUInt64LE",8]),c.prototype.fieldSpec.push(["tot",a.prototype.fieldSpec]),c.prototype.fieldSpec.push(["P","writeUInt32LE",4]),c.prototype.fieldSpec.push(["P_std","writeUInt16LE",2]),c.prototype.fieldSpec.push(["L",i.prototype.fieldSpec]),c.prototype.fieldSpec.push(["cn0","writeUInt8",1]),c.prototype.fieldSpec.push(["lock","writeUInt16LE",2]),c.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),c.prototype.fieldSpec.push(["doppler","writeInt32LE",4]),c.prototype.fieldSpec.push(["doppler_std","writeUInt16LE",2]),c.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),c.prototype.fieldSpec.push(["clock_offset","writeInt16LE",2]),c.prototype.fieldSpec.push(["clock_drift","writeInt16LE",2]),c.prototype.fieldSpec.push(["corr_spacing","writeUInt16LE",2]),c.prototype.fieldSpec.push(["acceleration","writeInt8",1]),c.prototype.fieldSpec.push(["sync_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["tow_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["track_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["nav_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["pset_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["misc_flags","writeUInt8",1]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE_DETAILED_DEP",u.prototype.msg_type=17,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint64("recv_time").nest("tot",{type:l.prototype.parser}).uint32("P").uint16("P_std").nest("L",{type:i.prototype.parser}).uint8("cn0").uint16("lock").nest("sid",{type:n.prototype.parser}).int32("doppler").uint16("doppler_std").uint32("uptime").int16("clock_offset").int16("clock_drift").uint16("corr_spacing").int8("acceleration").uint8("sync_flags").uint8("tow_flags").uint8("track_flags").uint8("nav_flags").uint8("pset_flags").uint8("misc_flags"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["recv_time","writeUInt64LE",8]),u.prototype.fieldSpec.push(["tot",l.prototype.fieldSpec]),u.prototype.fieldSpec.push(["P","writeUInt32LE",4]),u.prototype.fieldSpec.push(["P_std","writeUInt16LE",2]),u.prototype.fieldSpec.push(["L",i.prototype.fieldSpec]),u.prototype.fieldSpec.push(["cn0","writeUInt8",1]),u.prototype.fieldSpec.push(["lock","writeUInt16LE",2]),u.prototype.fieldSpec.push(["sid",n.prototype.fieldSpec]),u.prototype.fieldSpec.push(["doppler","writeInt32LE",4]),u.prototype.fieldSpec.push(["doppler_std","writeUInt16LE",2]),u.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),u.prototype.fieldSpec.push(["clock_offset","writeInt16LE",2]),u.prototype.fieldSpec.push(["clock_drift","writeInt16LE",2]),u.prototype.fieldSpec.push(["corr_spacing","writeUInt16LE",2]),u.prototype.fieldSpec.push(["acceleration","writeInt8",1]),u.prototype.fieldSpec.push(["sync_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["tow_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["track_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["nav_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["pset_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["misc_flags","writeUInt8",1]);var y=function(e,t){return p.call(this,e),this.messageType="TrackingChannelState",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="TrackingChannelState",y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").nest("sid",{type:s.prototype.parser}).uint8("fcn").uint8("cn0"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),y.prototype.fieldSpec.push(["fcn","writeUInt8",1]),y.prototype.fieldSpec.push(["cn0","writeUInt8",1]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE",h.prototype.msg_type=65,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").array("states",{type:y.prototype.parser,readUntil:"eof"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["states","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var f=function(e,t){return p.call(this,e),this.messageType="MeasurementState",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MeasurementState",f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").nest("mesid",{type:s.prototype.parser}).uint8("cn0"),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["mesid",s.prototype.fieldSpec]),f.prototype.fieldSpec.push(["cn0","writeUInt8",1]);var d=function(e,t){return p.call(this,e),this.messageType="MSG_MEASUREMENT_STATE",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="MSG_MEASUREMENT_STATE",d.prototype.msg_type=97,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").array("states",{type:f.prototype.parser,readUntil:"eof"}),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["states","array",f.prototype.fieldSpec,function(){return this.fields.array.length},null]);var _=function(e,t){return p.call(this,e),this.messageType="TrackingChannelCorrelation",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="TrackingChannelCorrelation",_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").int16("I").int16("Q"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["I","writeInt16LE",2]),_.prototype.fieldSpec.push(["Q","writeInt16LE",2]);var S=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_IQ",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_IQ",S.prototype.msg_type=45,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").uint8("channel").nest("sid",{type:s.prototype.parser}).array("corrs",{length:3,type:_.prototype.parser}),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["channel","writeUInt8",1]),S.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),S.prototype.fieldSpec.push(["corrs","array",_.prototype.fieldSpec,function(){return this.fields.array.length},3]);var g=function(e,t){return p.call(this,e),this.messageType="TrackingChannelCorrelationDep",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.prototype)).messageType="TrackingChannelCorrelationDep",g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").int32("I").int32("Q"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["I","writeInt32LE",4]),g.prototype.fieldSpec.push(["Q","writeInt32LE",4]);var w=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_IQ_DEP_B",w.prototype.msg_type=44,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").uint8("channel").nest("sid",{type:s.prototype.parser}).array("corrs",{length:3,type:g.prototype.parser}),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["channel","writeUInt8",1]),w.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),w.prototype.fieldSpec.push(["corrs","array",g.prototype.fieldSpec,function(){return this.fields.array.length},3]);var E=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_IQ_DEP_A",E.prototype.msg_type=28,E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").uint8("channel").nest("sid",{type:n.prototype.parser}).array("corrs",{length:3,type:g.prototype.parser}),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["channel","writeUInt8",1]),E.prototype.fieldSpec.push(["sid",n.prototype.fieldSpec]),E.prototype.fieldSpec.push(["corrs","array",g.prototype.fieldSpec,function(){return this.fields.array.length},3]);var m=function(e,t){return p.call(this,e),this.messageType="TrackingChannelStateDepA",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="TrackingChannelStateDepA",m.prototype.constructor=m,m.prototype.parser=(new o).endianess("little").uint8("state").uint8("prn").floatle("cn0"),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["state","writeUInt8",1]),m.prototype.fieldSpec.push(["prn","writeUInt8",1]),m.prototype.fieldSpec.push(["cn0","writeFloatLE",4]);var b=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE_DEP_A",b.prototype.msg_type=22,b.prototype.constructor=b,b.prototype.parser=(new o).endianess("little").array("states",{type:m.prototype.parser,readUntil:"eof"}),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["states","array",m.prototype.fieldSpec,function(){return this.fields.array.length},null]);var v=function(e,t){return p.call(this,e),this.messageType="TrackingChannelStateDepB",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="TrackingChannelStateDepB",v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").uint8("state").nest("sid",{type:n.prototype.parser}).floatle("cn0"),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["state","writeUInt8",1]),v.prototype.fieldSpec.push(["sid",n.prototype.fieldSpec]),v.prototype.fieldSpec.push(["cn0","writeFloatLE",4]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE_DEP_B",L.prototype.msg_type=19,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").array("states",{type:v.prototype.parser,readUntil:"eof"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["states","array",v.prototype.fieldSpec,function(){return this.fields.array.length},null]),e.exports={33:c,MsgTrackingStateDetailedDepA:c,17:u,MsgTrackingStateDetailedDep:u,TrackingChannelState:y,65:h,MsgTrackingState:h,MeasurementState:f,97:d,MsgMeasurementState:d,TrackingChannelCorrelation:_,45:S,MsgTrackingIq:S,TrackingChannelCorrelationDep:g,44:w,MsgTrackingIqDepB:w,28:E,MsgTrackingIqDepA:E,TrackingChannelStateDepA:m,22:b,MsgTrackingStateDepA:b,TrackingChannelStateDepB:v,19:L,MsgTrackingStateDepB:L}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_USER_DATA",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_USER_DATA",i.prototype.msg_type=2048,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").array("contents",{type:"uint8",readUntil:"eof"}),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["contents","array","writeUInt8",function(){return 1},null]),e.exports={2048:i,MsgUserData:i}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_ODOMETRY",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_ODOMETRY",i.prototype.msg_type=2307,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").int32("velocity").uint8("flags"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["velocity","writeInt32LE",4]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_WHEELTICK",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_WHEELTICK",s.prototype.msg_type=2308,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint64("time").uint8("flags").uint8("source").int32("ticks"),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["time","writeUInt64LE",8]),s.prototype.fieldSpec.push(["flags","writeUInt8",1]),s.prototype.fieldSpec.push(["source","writeUInt8",1]),s.prototype.fieldSpec.push(["ticks","writeInt32LE",4]),e.exports={2307:i,MsgOdometry:i,2308:s,MsgWheeltick:s}}]); \ No newline at end of file diff --git a/javascript/sbp/system.js b/javascript/sbp/system.js index 3eb9eb9e81..978fa00e96 100644 --- a/javascript/sbp/system.js +++ b/javascript/sbp/system.js @@ -420,6 +420,57 @@ MsgPpsTime.prototype.fieldSpec = []; MsgPpsTime.prototype.fieldSpec.push(['time', 'writeUInt64LE', 8]); MsgPpsTime.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); +/** + * SBP class for message MSG_SENSOR_AID_EVENT (0xFF09). + * + * This diagnostic message contains state and update status information for all + * sensors that are being used by the fusion engine. This message will be generated + * asynchronously to the solution messages and will be emitted anytime a sensor + * update is being processed. + * + * Fields in the SBP payload (`sbp.payload`): + * @field time number (unsigned 32-bit int, 4 bytes) Update timestamp in milliseconds. + * @field sensor_type number (unsigned 8-bit int, 1 byte) Sensor type + * @field sensor_id number (unsigned 16-bit int, 2 bytes) Sensor identifier + * @field sensor_state number (unsigned 8-bit int, 1 byte) Reserved for future use + * @field n_available_meas number (unsigned 8-bit int, 1 byte) Number of available measurements in this epoch + * @field n_attempted_meas number (unsigned 8-bit int, 1 byte) Number of attempted measurements in this epoch + * @field n_accepted_meas number (unsigned 8-bit int, 1 byte) Number of accepted measurements in this epoch + * @field flags number (unsigned 32-bit int, 4 bytes) Reserved for future use + * + * @param sbp An SBP object with a payload to be decoded. + */ +var MsgSensorAidEvent = function (sbp, fields) { + SBP.call(this, sbp); + this.messageType = "MSG_SENSOR_AID_EVENT"; + this.fields = (fields || this.parser.parse(sbp.payload)); + + return this; +}; +MsgSensorAidEvent.prototype = Object.create(SBP.prototype); +MsgSensorAidEvent.prototype.messageType = "MSG_SENSOR_AID_EVENT"; +MsgSensorAidEvent.prototype.msg_type = 0xFF09; +MsgSensorAidEvent.prototype.constructor = MsgSensorAidEvent; +MsgSensorAidEvent.prototype.parser = new Parser() + .endianess('little') + .uint32('time') + .uint8('sensor_type') + .uint16('sensor_id') + .uint8('sensor_state') + .uint8('n_available_meas') + .uint8('n_attempted_meas') + .uint8('n_accepted_meas') + .uint32('flags'); +MsgSensorAidEvent.prototype.fieldSpec = []; +MsgSensorAidEvent.prototype.fieldSpec.push(['time', 'writeUInt32LE', 4]); +MsgSensorAidEvent.prototype.fieldSpec.push(['sensor_type', 'writeUInt8', 1]); +MsgSensorAidEvent.prototype.fieldSpec.push(['sensor_id', 'writeUInt16LE', 2]); +MsgSensorAidEvent.prototype.fieldSpec.push(['sensor_state', 'writeUInt8', 1]); +MsgSensorAidEvent.prototype.fieldSpec.push(['n_available_meas', 'writeUInt8', 1]); +MsgSensorAidEvent.prototype.fieldSpec.push(['n_attempted_meas', 'writeUInt8', 1]); +MsgSensorAidEvent.prototype.fieldSpec.push(['n_accepted_meas', 'writeUInt8', 1]); +MsgSensorAidEvent.prototype.fieldSpec.push(['flags', 'writeUInt32LE', 4]); + /** * SBP class for message MSG_GROUP_META (0xFF0A). * @@ -481,6 +532,8 @@ module.exports = { MsgGnssTimeOffset: MsgGnssTimeOffset, 0xFF08: MsgPpsTime, MsgPpsTime: MsgPpsTime, + 0xFF09: MsgSensorAidEvent, + MsgSensorAidEvent: MsgSensorAidEvent, 0xFF0A: MsgGroupMeta, MsgGroupMeta: MsgGroupMeta, } \ No newline at end of file diff --git a/jsonschema/MsgSensorAidEvent.json b/jsonschema/MsgSensorAidEvent.json new file mode 100644 index 0000000000..c879aa73de --- /dev/null +++ b/jsonschema/MsgSensorAidEvent.json @@ -0,0 +1,38 @@ +{ + "copyright": [ + "Copyright (C) 2019-2021 Swift Navigation Inc.", + "Contact: https://support.swiftnav.com", + "", + "This source is subject to the license found in the file 'LICENSE' which must", + "be be distributed together with this source. All other rights reserved.", + "", + "THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,", + "EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED", + "WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE." + ], + "$schema": "http://json-schema.org/draft-06/schema#", + "$id": "#MsgSensorAidEvent", + "title":"MsgSensorAidEvent", + "description":"This diagnostic message contains state and update status information for all sensors that are being used by the fusion engine. This message will be generated asynchronously to the solution messages and will be emitted anytime a sensor update is being processed.\n", + "type": "object", + "properties": { + "time": {"type": "integer"}, + "sensor_type": {"type": "integer"}, + "sensor_id": {"type": "integer"}, + "sensor_state": {"type": "integer"}, + "n_available_meas": {"type": "integer"}, + "n_attempted_meas": {"type": "integer"}, + "n_accepted_meas": {"type": "integer"}, + "flags": {"type": "integer"} + }, + "required": [ + "time", + "sensor_type", + "sensor_id", + "sensor_state", + "n_available_meas", + "n_attempted_meas", + "n_accepted_meas", + "flags" + ] +} \ No newline at end of file diff --git a/package-lock.json b/package-lock.json index 6a83cb9e5b..5fa808f5b6 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,12 +1,12 @@ { "name": "sbp", - "version": "4.1.2", + "version": "4.1.3-alpha", "lockfileVersion": 2, "requires": true, "packages": { "": { "name": "sbp", - "version": "4.1.2", + "version": "4.1.3-alpha", "license": "MIT", "dependencies": { "binary-parser": "^1.7.0", diff --git a/package.json b/package.json index fa700d29b2..e4f68e74fd 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "sbp", - "version": "4.1.2", + "version": "4.1.3-alpha", "description": "libsbp bindings for JavaScript. More information here: http://swift-nav.github.io/libsbp/", "files": [ "javascript/*", diff --git a/proto/system.proto b/proto/system.proto index 0bfacd5783..fad7097fc7 100644 --- a/proto/system.proto +++ b/proto/system.proto @@ -169,6 +169,24 @@ message MsgPpsTime { uint32 flags = 2; } +/** Sensor state and update status data + * + * This diagnostic message contains state and update status information for + * all sensors that are being used by the fusion engine. This message will be + * generated asynchronously to the solution messages and will be emitted + * anytime a sensor update is being processed. + */ +message MsgSensorAidEvent { + uint32 time = 1; + uint32 sensor_type = 2; + uint32 sensor_id = 3; + uint32 sensor_state = 4; + uint32 n_available_meas = 5; + uint32 n_attempted_meas = 6; + uint32 n_accepted_meas = 7; + uint32 flags = 8; +} + /** Solution Group Metadata * * This leading message lists the time metadata of the Solution Group. It also diff --git a/python/sbp/system.py b/python/sbp/system.py index 4158e356a8..21934019a0 100644 --- a/python/sbp/system.py +++ b/python/sbp/system.py @@ -1102,6 +1102,133 @@ def to_json_dict(self): d.update(j) return d +SBP_MSG_SENSOR_AID_EVENT = 0xFF09 +class MsgSensorAidEvent(SBP): + """SBP class for message MSG_SENSOR_AID_EVENT (0xFF09). + + You can have MSG_SENSOR_AID_EVENT inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + This diagnostic message contains state and update status information for all + sensors that are being used by the fusion engine. This message will be + generated asynchronously to the solution messages and will be emitted + anytime a sensor update is being processed. + + Parameters + ---------- + sbp : SBP + SBP parent object to inherit from. + time : int + Update timestamp in milliseconds. + sensor_type : int + Sensor type + sensor_id : int + Sensor identifier + sensor_state : int + Reserved for future use + n_available_meas : int + Number of available measurements in this epoch + n_attempted_meas : int + Number of attempted measurements in this epoch + n_accepted_meas : int + Number of accepted measurements in this epoch + flags : int + Reserved for future use + sender : int + Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). + + """ + _parser = construct.Struct( + 'time' / construct.Int32ul, + 'sensor_type' / construct.Int8ul, + 'sensor_id' / construct.Int16ul, + 'sensor_state' / construct.Int8ul, + 'n_available_meas' / construct.Int8ul, + 'n_attempted_meas' / construct.Int8ul, + 'n_accepted_meas' / construct.Int8ul, + 'flags' / construct.Int32ul,) + __slots__ = [ + 'time', + 'sensor_type', + 'sensor_id', + 'sensor_state', + 'n_available_meas', + 'n_attempted_meas', + 'n_accepted_meas', + 'flags', + ] + + def __init__(self, sbp=None, **kwargs): + if sbp: + super( MsgSensorAidEvent, + self).__init__(sbp.msg_type, sbp.sender, sbp.length, + sbp.payload, sbp.crc) + self.from_binary(sbp.payload) + else: + super( MsgSensorAidEvent, self).__init__() + self.msg_type = SBP_MSG_SENSOR_AID_EVENT + self.sender = kwargs.pop('sender', SENDER_ID) + self.time = kwargs.pop('time') + self.sensor_type = kwargs.pop('sensor_type') + self.sensor_id = kwargs.pop('sensor_id') + self.sensor_state = kwargs.pop('sensor_state') + self.n_available_meas = kwargs.pop('n_available_meas') + self.n_attempted_meas = kwargs.pop('n_attempted_meas') + self.n_accepted_meas = kwargs.pop('n_accepted_meas') + self.flags = kwargs.pop('flags') + + def __repr__(self): + return fmt_repr(self) + + @staticmethod + def from_json(s): + """Given a JSON-encoded string s, build a message object. + + """ + d = json.loads(s) + return MsgSensorAidEvent.from_json_dict(d) + + @staticmethod + def from_json_dict(d): + sbp = SBP.from_json_dict(d) + return MsgSensorAidEvent(sbp, **d) + + + def from_binary(self, d): + """Given a binary payload d, update the appropriate payload fields of + the message. + + """ + p = MsgSensorAidEvent._parser.parse(d) + for n in self.__class__.__slots__: + setattr(self, n, getattr(p, n)) + + def to_binary(self): + """Produce a framed/packed SBP message. + + """ + c = containerize(exclude_fields(self)) + self.payload = MsgSensorAidEvent._parser.build(c) + return self.pack() + + def into_buffer(self, buf, offset): + """Produce a framed/packed SBP message into the provided buffer and offset. + + """ + self.payload = containerize(exclude_fields(self)) + self.parser = MsgSensorAidEvent._parser + self.stream_payload.reset(buf, offset) + return self.pack_into(buf, offset, self._build_payload) + + def to_json_dict(self): + self.to_binary() + d = super( MsgSensorAidEvent, self).to_json_dict() + j = walk_json_dict(exclude_fields(self)) + d.update(j) + return d + SBP_MSG_GROUP_META = 0xFF0A class MsgGroupMeta(SBP): """SBP class for message MSG_GROUP_META (0xFF0A). @@ -1221,5 +1348,6 @@ def to_json_dict(self): 0xFF06: MsgInsUpdates, 0xFF07: MsgGnssTimeOffset, 0xFF08: MsgPpsTime, + 0xFF09: MsgSensorAidEvent, 0xFF0A: MsgGroupMeta, } \ No newline at end of file diff --git a/python/tests/sbp/test_table.py b/python/tests/sbp/test_table.py index 01c2bba81f..5d104a16b2 100644 --- a/python/tests/sbp/test_table.py +++ b/python/tests/sbp/test_table.py @@ -40,7 +40,7 @@ def test_table_count(): Test number of available messages to deserialize. """ - number_of_messages = 203 + number_of_messages = 204 assert len(_SBP_TABLE) == number_of_messages def test_table_unqiue_count(): diff --git a/rust/sbp/src/messages/mod.rs b/rust/sbp/src/messages/mod.rs index 54887971e7..cb6f6530d3 100644 --- a/rust/sbp/src/messages/mod.rs +++ b/rust/sbp/src/messages/mod.rs @@ -221,6 +221,7 @@ use self::system::MsgHeartbeat; use self::system::MsgInsStatus; use self::system::MsgInsUpdates; use self::system::MsgPpsTime; +use self::system::MsgSensorAidEvent; use self::system::MsgStartup; use self::system::MsgStatusReport; use self::tracking::MsgMeasurementState; @@ -697,6 +698,8 @@ pub enum Sbp { MsgGnssTimeOffset(MsgGnssTimeOffset), /// Local time at detection of PPS pulse MsgPpsTime(MsgPpsTime), + /// Sensor state and update status data + MsgSensorAidEvent(MsgSensorAidEvent), /// Solution Group Metadata MsgGroupMeta(MsgGroupMeta), /// Solution Sensors Metadata @@ -1729,6 +1732,11 @@ impl Sbp { msg.set_sender_id(frame.sender_id); Ok(Sbp::MsgPpsTime(msg)) } + MsgSensorAidEvent::MESSAGE_TYPE => { + let mut msg = MsgSensorAidEvent::parse(&mut frame.payload)?; + msg.set_sender_id(frame.sender_id); + Ok(Sbp::MsgSensorAidEvent(msg)) + } MsgGroupMeta::MESSAGE_TYPE => { let mut msg = MsgGroupMeta::parse(&mut frame.payload)?; msg.set_sender_id(frame.sender_id); @@ -1964,6 +1972,7 @@ impl SbpMessage for Sbp { Sbp::MsgInsUpdates(msg) => msg.message_name(), Sbp::MsgGnssTimeOffset(msg) => msg.message_name(), Sbp::MsgPpsTime(msg) => msg.message_name(), + Sbp::MsgSensorAidEvent(msg) => msg.message_name(), Sbp::MsgGroupMeta(msg) => msg.message_name(), Sbp::MsgSolnMeta(msg) => msg.message_name(), Sbp::MsgSolnMetaDepA(msg) => msg.message_name(), @@ -2173,6 +2182,7 @@ impl SbpMessage for Sbp { Sbp::MsgInsUpdates(msg) => msg.message_type(), Sbp::MsgGnssTimeOffset(msg) => msg.message_type(), Sbp::MsgPpsTime(msg) => msg.message_type(), + Sbp::MsgSensorAidEvent(msg) => msg.message_type(), Sbp::MsgGroupMeta(msg) => msg.message_type(), Sbp::MsgSolnMeta(msg) => msg.message_type(), Sbp::MsgSolnMetaDepA(msg) => msg.message_type(), @@ -2382,6 +2392,7 @@ impl SbpMessage for Sbp { Sbp::MsgInsUpdates(msg) => msg.sender_id(), Sbp::MsgGnssTimeOffset(msg) => msg.sender_id(), Sbp::MsgPpsTime(msg) => msg.sender_id(), + Sbp::MsgSensorAidEvent(msg) => msg.sender_id(), Sbp::MsgGroupMeta(msg) => msg.sender_id(), Sbp::MsgSolnMeta(msg) => msg.sender_id(), Sbp::MsgSolnMetaDepA(msg) => msg.sender_id(), @@ -2591,6 +2602,7 @@ impl SbpMessage for Sbp { Sbp::MsgInsUpdates(msg) => msg.set_sender_id(new_id), Sbp::MsgGnssTimeOffset(msg) => msg.set_sender_id(new_id), Sbp::MsgPpsTime(msg) => msg.set_sender_id(new_id), + Sbp::MsgSensorAidEvent(msg) => msg.set_sender_id(new_id), Sbp::MsgGroupMeta(msg) => msg.set_sender_id(new_id), Sbp::MsgSolnMeta(msg) => msg.set_sender_id(new_id), Sbp::MsgSolnMetaDepA(msg) => msg.set_sender_id(new_id), @@ -2800,6 +2812,7 @@ impl SbpMessage for Sbp { Sbp::MsgInsUpdates(msg) => msg.encoded_len(), Sbp::MsgGnssTimeOffset(msg) => msg.encoded_len(), Sbp::MsgPpsTime(msg) => msg.encoded_len(), + Sbp::MsgSensorAidEvent(msg) => msg.encoded_len(), Sbp::MsgGroupMeta(msg) => msg.encoded_len(), Sbp::MsgSolnMeta(msg) => msg.encoded_len(), Sbp::MsgSolnMetaDepA(msg) => msg.encoded_len(), @@ -3012,6 +3025,7 @@ impl SbpMessage for Sbp { Sbp::MsgInsUpdates(msg) => msg.gps_time(), Sbp::MsgGnssTimeOffset(msg) => msg.gps_time(), Sbp::MsgPpsTime(msg) => msg.gps_time(), + Sbp::MsgSensorAidEvent(msg) => msg.gps_time(), Sbp::MsgGroupMeta(msg) => msg.gps_time(), Sbp::MsgSolnMeta(msg) => msg.gps_time(), Sbp::MsgSolnMetaDepA(msg) => msg.gps_time(), @@ -3229,6 +3243,7 @@ impl WireFormat for Sbp { Sbp::MsgInsUpdates(msg) => WireFormat::write(msg, buf), Sbp::MsgGnssTimeOffset(msg) => WireFormat::write(msg, buf), Sbp::MsgPpsTime(msg) => WireFormat::write(msg, buf), + Sbp::MsgSensorAidEvent(msg) => WireFormat::write(msg, buf), Sbp::MsgGroupMeta(msg) => WireFormat::write(msg, buf), Sbp::MsgSolnMeta(msg) => WireFormat::write(msg, buf), Sbp::MsgSolnMetaDepA(msg) => WireFormat::write(msg, buf), @@ -3438,6 +3453,7 @@ impl WireFormat for Sbp { Sbp::MsgInsUpdates(msg) => WireFormat::len(msg), Sbp::MsgGnssTimeOffset(msg) => WireFormat::len(msg), Sbp::MsgPpsTime(msg) => WireFormat::len(msg), + Sbp::MsgSensorAidEvent(msg) => WireFormat::len(msg), Sbp::MsgGroupMeta(msg) => WireFormat::len(msg), Sbp::MsgSolnMeta(msg) => WireFormat::len(msg), Sbp::MsgSolnMetaDepA(msg) => WireFormat::len(msg), @@ -4636,6 +4652,12 @@ impl From for Sbp { } } +impl From for Sbp { + fn from(msg: MsgSensorAidEvent) -> Self { + Sbp::MsgSensorAidEvent(msg) + } +} + impl From for Sbp { fn from(msg: MsgGroupMeta) -> Self { Sbp::MsgGroupMeta(msg) diff --git a/rust/sbp/src/messages/system.rs b/rust/sbp/src/messages/system.rs index 26a888b8e5..e03de5f0b5 100644 --- a/rust/sbp/src/messages/system.rs +++ b/rust/sbp/src/messages/system.rs @@ -758,6 +758,122 @@ impl WireFormat for MsgPpsTime { } } +/// Sensor state and update status data +/// +/// This diagnostic message contains state and update status information for +/// all sensors that are being used by the fusion engine. This message will be +/// generated asynchronously to the solution messages and will be emitted +/// anytime a sensor update is being processed. +/// +#[cfg_attr(feature = "serde", derive(serde::Serialize))] +#[derive(Debug, Clone)] +pub struct MsgSensorAidEvent { + /// The message sender_id + #[cfg_attr(feature = "serde", serde(skip_serializing))] + pub sender_id: Option, + /// Update timestamp in milliseconds. + #[cfg_attr(feature = "serde", serde(rename(serialize = "time")))] + pub time: u32, + /// Sensor type + #[cfg_attr(feature = "serde", serde(rename(serialize = "sensor_type")))] + pub sensor_type: u8, + /// Sensor identifier + #[cfg_attr(feature = "serde", serde(rename(serialize = "sensor_id")))] + pub sensor_id: u16, + /// Reserved for future use + #[cfg_attr(feature = "serde", serde(rename(serialize = "sensor_state")))] + pub sensor_state: u8, + /// Number of available measurements in this epoch + #[cfg_attr(feature = "serde", serde(rename(serialize = "n_available_meas")))] + pub n_available_meas: u8, + /// Number of attempted measurements in this epoch + #[cfg_attr(feature = "serde", serde(rename(serialize = "n_attempted_meas")))] + pub n_attempted_meas: u8, + /// Number of accepted measurements in this epoch + #[cfg_attr(feature = "serde", serde(rename(serialize = "n_accepted_meas")))] + pub n_accepted_meas: u8, + /// Reserved for future use + #[cfg_attr(feature = "serde", serde(rename(serialize = "flags")))] + pub flags: u32, +} + +impl ConcreteMessage for MsgSensorAidEvent { + const MESSAGE_TYPE: u16 = 65289; + const MESSAGE_NAME: &'static str = "MSG_SENSOR_AID_EVENT"; +} + +impl SbpMessage for MsgSensorAidEvent { + fn message_name(&self) -> &'static str { + ::MESSAGE_NAME + } + fn message_type(&self) -> u16 { + ::MESSAGE_TYPE + } + fn sender_id(&self) -> Option { + self.sender_id + } + fn set_sender_id(&mut self, new_id: u16) { + self.sender_id = Some(new_id); + } + fn encoded_len(&self) -> usize { + WireFormat::len(self) + crate::HEADER_LEN + crate::CRC_LEN + } +} + +impl TryFrom for MsgSensorAidEvent { + type Error = TryFromSbpError; + fn try_from(msg: Sbp) -> Result { + match msg { + Sbp::MsgSensorAidEvent(m) => Ok(m), + _ => Err(TryFromSbpError), + } + } +} + +impl WireFormat for MsgSensorAidEvent { + const MIN_LEN: usize = ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN; + fn len(&self) -> usize { + WireFormat::len(&self.time) + + WireFormat::len(&self.sensor_type) + + WireFormat::len(&self.sensor_id) + + WireFormat::len(&self.sensor_state) + + WireFormat::len(&self.n_available_meas) + + WireFormat::len(&self.n_attempted_meas) + + WireFormat::len(&self.n_accepted_meas) + + WireFormat::len(&self.flags) + } + fn write(&self, buf: &mut B) { + WireFormat::write(&self.time, buf); + WireFormat::write(&self.sensor_type, buf); + WireFormat::write(&self.sensor_id, buf); + WireFormat::write(&self.sensor_state, buf); + WireFormat::write(&self.n_available_meas, buf); + WireFormat::write(&self.n_attempted_meas, buf); + WireFormat::write(&self.n_accepted_meas, buf); + WireFormat::write(&self.flags, buf); + } + fn parse_unchecked(buf: &mut B) -> Self { + MsgSensorAidEvent { + sender_id: None, + time: WireFormat::parse_unchecked(buf), + sensor_type: WireFormat::parse_unchecked(buf), + sensor_id: WireFormat::parse_unchecked(buf), + sensor_state: WireFormat::parse_unchecked(buf), + n_available_meas: WireFormat::parse_unchecked(buf), + n_attempted_meas: WireFormat::parse_unchecked(buf), + n_accepted_meas: WireFormat::parse_unchecked(buf), + flags: WireFormat::parse_unchecked(buf), + } + } +} + /// System start-up message /// /// The system start-up message is sent once on system start-up. It notifies diff --git a/rust/sbp/tests/integration/auto_check_sbp_system_msg_sensor_aid_event.rs b/rust/sbp/tests/integration/auto_check_sbp_system_msg_sensor_aid_event.rs new file mode 100644 index 0000000000..b1cfc0785b --- /dev/null +++ b/rust/sbp/tests/integration/auto_check_sbp_system_msg_sensor_aid_event.rs @@ -0,0 +1,90 @@ +// +// Copyright (C) 2019-2021 Swift Navigation Inc. +// Contact: https://support.swiftnav.com +// +// This source is subject to the license found in the file 'LICENSE' which must +// be be distributed together with this source. All other rights reserved. +// +// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, +// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + +// This file was auto-generated from spec/tests/yaml/swiftnav/sbp/system/test_MsgSensorAidEvent.yaml by generate.py. Do not modify by hand! + +use crate::*; + +#[test] +fn test_auto_check_sbp_system_msg_sensor_aid_event() { + { + let mut payload = Cursor::new(vec![ + 85, 9, 255, 211, 136, 15, 48, 246, 122, 19, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 33, 236, + ]); + + // Test the round trip payload parsing + let sbp_msg = { + let mut msgs = iter_messages(&mut payload); + msgs.next() + .expect("no message found") + .expect("failed to parse message") + }; + match &sbp_msg { + sbp::messages::Sbp::MsgSensorAidEvent(msg) => { + assert_eq!( + msg.message_type(), + 0xFF09, + "Incorrect message type, expected 0xFF09, is {}", + msg.message_type() + ); + let sender_id = msg.sender_id().unwrap(); + assert_eq!( + sender_id, 0x88D3, + "incorrect sender id, expected 0x88D3, is {}", + sender_id + ); + assert_eq!( + msg.flags, 0, + "incorrect value for flags, expected 0, is {}", + msg.flags + ); + assert_eq!( + msg.n_accepted_meas, 0, + "incorrect value for n_accepted_meas, expected 0, is {}", + msg.n_accepted_meas + ); + assert_eq!( + msg.n_attempted_meas, 0, + "incorrect value for n_attempted_meas, expected 0, is {}", + msg.n_attempted_meas + ); + assert_eq!( + msg.n_available_meas, 0, + "incorrect value for n_available_meas, expected 0, is {}", + msg.n_available_meas + ); + assert_eq!( + msg.sensor_id, 0, + "incorrect value for sensor_id, expected 0, is {}", + msg.sensor_id + ); + assert_eq!( + msg.sensor_state, 0, + "incorrect value for sensor_state, expected 0, is {}", + msg.sensor_state + ); + assert_eq!( + msg.sensor_type, 0, + "incorrect value for sensor_type, expected 0, is {}", + msg.sensor_type + ); + assert_eq!( + msg.time, 326825520, + "incorrect value for time, expected 326825520, is {}", + msg.time + ); + } + _ => panic!("Invalid message type! Expected a MsgSensorAidEvent"), + }; + let frame = sbp::to_vec(&sbp_msg).unwrap(); + assert_eq!(frame, payload.into_inner()); + } +} diff --git a/rust/sbp/tests/integration/main.rs b/rust/sbp/tests/integration/main.rs index 14bac64bc6..c864eaeb26 100644 --- a/rust/sbp/tests/integration/main.rs +++ b/rust/sbp/tests/integration/main.rs @@ -87,6 +87,7 @@ mod auto_check_sbp_system_msg_group_meta; mod auto_check_sbp_system_msg_heartbeat; mod auto_check_sbp_system_msg_ins_status; mod auto_check_sbp_system_msg_ins_updates; +mod auto_check_sbp_system_msg_sensor_aid_event; mod auto_check_sbp_system_msg_startup; mod auto_check_sbp_tracking_msg_measurement_state; mod auto_check_sbp_tracking_msg_tracking_state; diff --git a/sbpjson/elm/SbpJson.elm b/sbpjson/elm/SbpJson.elm index 8a765ed18c..afe328d9fb 100644 --- a/sbpjson/elm/SbpJson.elm +++ b/sbpjson/elm/SbpJson.elm @@ -5,7 +5,7 @@ -- add these imports -- -- import Json.Decode exposing (decodeString)`); --- import SbpJson exposing (acqSvProfile, almanacCommonContent, carrierPhase, codeBiasesContent, doppler, ephemerisCommonContent, estimatedHorizontalErrorEllipse, gnssInputType, gnssCapb, gnssSignal, gpsTime, gpsTimeSEC, gridElement, gridElementNoStd, griddedCorrectionHeader, imuInputType, latency, measurementState, msgAcqResult, msgAcqSvProfile, msgAgeCorrections, msgAlmanac, msgAlmanacGPS, msgAlmanacGlo, msgAngularRate, msgBasePosECEF, msgBasePosLLH, msgBaselineECEF, msgBaselineHeading, msgBaselineNED, msgBootloaderHandshakeReq, msgBootloaderHandshakeResp, msgBootloaderJumpToApp, msgCellModemStatus, msgCommandOutput, msgCommandReq, msgCommandResp, msgCsacTelemetry, msgCsacTelemetryLabels, msgCwResults, msgCwStart, msgDeviceMonitor, msgDgnssStatus, msgDops, msgEphemerisBds, msgEphemerisGPS, msgEphemerisGal, msgEphemerisGlo, msgEphemerisQzss, msgEphemerisSbas, msgEXTEvent, msgFileioConfigReq, msgFileioConfigResp, msgFileioReadDirReq, msgFileioReadDirResp, msgFileioReadReq, msgFileioReadResp, msgFileioRemove, msgFileioWriteReq, msgFileioWriteResp, msgFlashDone, msgFlashErase, msgFlashProgram, msgFlashReadReq, msgFlashReadResp, msgFrontEndGain, msgFwd, msgGPSTime, msgGPSTimeGnss, msgGloBiases, msgGnssCapb, msgGnssTimeOffset, msgGroupDelay, msgGroupMeta, msgHeartbeat, msgIarState, msgImuAux, msgImuRaw, msgInsStatus, msgInsUpdates, msgIono, msgLinuxCPUState, msgLinuxMemState, msgLinuxProcessFdCount, msgLinuxProcessFdSummary, msgLinuxProcessSocketCounts, msgLinuxProcessSocketQueues, msgLinuxSocketUsage, msgLinuxSysState, msgLog, msgM25FlashWriteStatus, msgMagRaw, msgMaskSatellite, msgMeasurementState, msgNapDeviceDnaReq, msgNapDeviceDnaResp, msgNdbEvent, msgNetworkBandwidthUsage, msgNetworkStateReq, msgNetworkStateResp, msgObs, msgOdometry, msgOrientEuler, msgOrientQuat, msgOsr, msgPosECEF, msgPosECEFCov, msgPosECEFCovGnss, msgPosECEFGnss, msgPosLLH, msgPosLLHAcc, msgPosLLHCov, msgPosLLHCovGnss, msgPosLLHGnss, msgPpsTime, msgProtectionLevel, msgReset, msgResetFilters, msgSbasRaw, msgSetTime, msgSettingsReadByIndexDone, msgSettingsReadByIndexReq, msgSettingsReadByIndexResp, msgSettingsReadReq, msgSettingsReadResp, msgSettingsRegister, msgSettingsRegisterResp, msgSettingsSave, msgSettingsWrite, msgSettingsWriteResp, msgSolnMeta, msgSpecan, msgSsrCodeBiases, msgSsrGriddedCorrection, msgSsrOrbitClock, msgSsrPhaseBiases, msgSsrSatelliteApc, msgSsrStecCorrection, msgSsrTileDefinition, msgStartup, msgStatusReport, msgStmFlashLockSector, msgStmFlashUnlockSector, msgStmUniqueIDReq, msgStmUniqueIDResp, msgSvAzEl, msgThreadState, msgTrackingIq, msgTrackingState, msgUARTState, msgUserData, msgUTCTime, msgUTCTimeGnss, msgVelBody, msgVelCog, msgVelECEF, msgVelECEFCov, msgVelECEFCovGnss, msgVelECEFGnss, msgVelNED, msgVelNEDCov, msgVelNEDCovGnss, msgVelNEDGnss, msgWheeltick, networkUsage, observationHeader, odoInputType, packedObsContent, packedOsrContent, period, phaseBiasesContent, stecHeader, stecResidual, stecResidualNoStd, stecSatElement, satelliteAPC, solutionInputType, subSystemReport, svAzEl, svID, trackingChannelCorrelation, trackingChannelState, troposphericDelayCorrection, troposphericDelayCorrectionNoStd, uartChannel) +-- import SbpJson exposing (acqSvProfile, almanacCommonContent, carrierPhase, codeBiasesContent, doppler, ephemerisCommonContent, estimatedHorizontalErrorEllipse, gnssInputType, gnssCapb, gnssSignal, gpsTime, gpsTimeSEC, gridElement, gridElementNoStd, griddedCorrectionHeader, imuInputType, latency, measurementState, msgAcqResult, msgAcqSvProfile, msgAgeCorrections, msgAlmanac, msgAlmanacGPS, msgAlmanacGlo, msgAngularRate, msgBasePosECEF, msgBasePosLLH, msgBaselineECEF, msgBaselineHeading, msgBaselineNED, msgBootloaderHandshakeReq, msgBootloaderHandshakeResp, msgBootloaderJumpToApp, msgCellModemStatus, msgCommandOutput, msgCommandReq, msgCommandResp, msgCsacTelemetry, msgCsacTelemetryLabels, msgCwResults, msgCwStart, msgDeviceMonitor, msgDgnssStatus, msgDops, msgEphemerisBds, msgEphemerisGPS, msgEphemerisGal, msgEphemerisGlo, msgEphemerisQzss, msgEphemerisSbas, msgEXTEvent, msgFileioConfigReq, msgFileioConfigResp, msgFileioReadDirReq, msgFileioReadDirResp, msgFileioReadReq, msgFileioReadResp, msgFileioRemove, msgFileioWriteReq, msgFileioWriteResp, msgFlashDone, msgFlashErase, msgFlashProgram, msgFlashReadReq, msgFlashReadResp, msgFrontEndGain, msgFwd, msgGPSTime, msgGPSTimeGnss, msgGloBiases, msgGnssCapb, msgGnssTimeOffset, msgGroupDelay, msgGroupMeta, msgHeartbeat, msgIarState, msgImuAux, msgImuRaw, msgInsStatus, msgInsUpdates, msgIono, msgLinuxCPUState, msgLinuxMemState, msgLinuxProcessFdCount, msgLinuxProcessFdSummary, msgLinuxProcessSocketCounts, msgLinuxProcessSocketQueues, msgLinuxSocketUsage, msgLinuxSysState, msgLog, msgM25FlashWriteStatus, msgMagRaw, msgMaskSatellite, msgMeasurementState, msgNapDeviceDnaReq, msgNapDeviceDnaResp, msgNdbEvent, msgNetworkBandwidthUsage, msgNetworkStateReq, msgNetworkStateResp, msgObs, msgOdometry, msgOrientEuler, msgOrientQuat, msgOsr, msgPosECEF, msgPosECEFCov, msgPosECEFCovGnss, msgPosECEFGnss, msgPosLLH, msgPosLLHAcc, msgPosLLHCov, msgPosLLHCovGnss, msgPosLLHGnss, msgPpsTime, msgProtectionLevel, msgReset, msgResetFilters, msgSbasRaw, msgSensorAidEvent, msgSetTime, msgSettingsReadByIndexDone, msgSettingsReadByIndexReq, msgSettingsReadByIndexResp, msgSettingsReadReq, msgSettingsReadResp, msgSettingsRegister, msgSettingsRegisterResp, msgSettingsSave, msgSettingsWrite, msgSettingsWriteResp, msgSolnMeta, msgSpecan, msgSsrCodeBiases, msgSsrGriddedCorrection, msgSsrOrbitClock, msgSsrPhaseBiases, msgSsrSatelliteApc, msgSsrStecCorrection, msgSsrTileDefinition, msgStartup, msgStatusReport, msgStmFlashLockSector, msgStmFlashUnlockSector, msgStmUniqueIDReq, msgStmUniqueIDResp, msgSvAzEl, msgThreadState, msgTrackingIq, msgTrackingState, msgUARTState, msgUserData, msgUTCTime, msgUTCTimeGnss, msgVelBody, msgVelCog, msgVelECEF, msgVelECEFCov, msgVelECEFCovGnss, msgVelECEFGnss, msgVelNED, msgVelNEDCov, msgVelNEDCovGnss, msgVelNEDGnss, msgWheeltick, networkUsage, observationHeader, odoInputType, packedObsContent, packedOsrContent, period, phaseBiasesContent, stecHeader, stecResidual, stecResidualNoStd, stecSatElement, satelliteAPC, solutionInputType, subSystemReport, svAzEl, svID, trackingChannelCorrelation, trackingChannelState, troposphericDelayCorrection, troposphericDelayCorrectionNoStd, uartChannel) -- -- and you're off to the races with -- @@ -128,6 +128,7 @@ -- decodeString msgReset myJsonString -- decodeString msgResetFilters myJsonString -- decodeString msgSbasRaw myJsonString +-- decodeString msgSensorAidEvent myJsonString -- decodeString msgSetTime myJsonString -- decodeString msgSettingsReadByIndexDone myJsonString -- decodeString msgSettingsReadByIndexReq myJsonString @@ -553,6 +554,9 @@ module SbpJson exposing , MsgSbasRaw , msgSbasRawToString , msgSbasRaw + , MsgSensorAidEvent + , msgSensorAidEventToString + , msgSensorAidEvent , MsgSetTime , msgSetTimeToString , msgSetTime @@ -2234,6 +2238,21 @@ type alias MsgSbasRaw = , tow : Int } +{-| This diagnostic message contains state and update status information for all sensors that +are being used by the fusion engine. This message will be generated asynchronously to the +solution messages and will be emitted anytime a sensor update is being processed. +-} +type alias MsgSensorAidEvent = + { flags : Int + , nAcceptedMeas : Int + , nAttemptedMeas : Int + , nAvailableMeas : Int + , sensorID : Int + , sensorState : Int + , sensorType : Int + , time : Int + } + {-| The settings message for iterating through the settings values. A device will respond to this message with a "MSG_SETTINGS_READ_BY_INDEX_RESP". -} @@ -2737,11 +2756,13 @@ type alias MsgVelBody = {-| This message reports the receiver course over ground (COG) and speed over ground (SOG) based on the horizontal (N-E) components of the NED velocity vector. It also includes -the vertical velocity in the form of the D-component of the NED velocity vector. The NED -coordinate system is defined as the local WGS84 tangent plane centered at the current -position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching -time-of-week (tow). Note: course over ground represents the receiver's direction of -travel, but not necessarily the device heading. +the vertical velocity coordinate. A flag is provided to indicate whether the COG value +has been frozen. When the flag is set to true, the COG field is set to its last valid +value until the system exceeds a minimum velocity threshold. No other fields are +affected by this flag. The NED coordinate system is defined as the local WGS84 tangent +plane centered at the current position. The full GPS time is given by the preceding +MSG_GPS_TIME with the matching time-of-week (tow). Note: course over ground represents +the receiver's direction of travel, but not necessarily the device heading. -} type alias MsgVelCog = { cog : Int @@ -2750,8 +2771,8 @@ type alias MsgVelCog = , sog : Int , sogAccuracy : Int , tow : Int - , velD : Int - , velDAccuracy : Int + , vUp : Int + , vUpAccuracy : Int } {-| This message reports the velocity in Earth Centered Earth Fixed (ECEF) coordinates. The @@ -3292,6 +3313,9 @@ msgResetFiltersToString r = Jenc.encode 0 (encodeMsgResetFilters r) msgSbasRawToString : MsgSbasRaw -> String msgSbasRawToString r = Jenc.encode 0 (encodeMsgSbasRaw r) +msgSensorAidEventToString : MsgSensorAidEvent -> String +msgSensorAidEventToString r = Jenc.encode 0 (encodeMsgSensorAidEvent r) + msgSetTime : Jdec.Decoder MsgSetTime msgSetTime = Jdec.dict Jdec.value @@ -5807,6 +5831,31 @@ encodeMsgSbasRaw x = , ("tow", Jenc.int x.tow) ] +msgSensorAidEvent : Jdec.Decoder MsgSensorAidEvent +msgSensorAidEvent = + Jpipe.decode MsgSensorAidEvent + |> Jpipe.required "flags" Jdec.int + |> Jpipe.required "n_accepted_meas" Jdec.int + |> Jpipe.required "n_attempted_meas" Jdec.int + |> Jpipe.required "n_available_meas" Jdec.int + |> Jpipe.required "sensor_id" Jdec.int + |> Jpipe.required "sensor_state" Jdec.int + |> Jpipe.required "sensor_type" Jdec.int + |> Jpipe.required "time" Jdec.int + +encodeMsgSensorAidEvent : MsgSensorAidEvent -> Jenc.Value +encodeMsgSensorAidEvent x = + Jenc.object + [ ("flags", Jenc.int x.flags) + , ("n_accepted_meas", Jenc.int x.nAcceptedMeas) + , ("n_attempted_meas", Jenc.int x.nAttemptedMeas) + , ("n_available_meas", Jenc.int x.nAvailableMeas) + , ("sensor_id", Jenc.int x.sensorID) + , ("sensor_state", Jenc.int x.sensorState) + , ("sensor_type", Jenc.int x.sensorType) + , ("time", Jenc.int x.time) + ] + msgSettingsReadByIndexReq : Jdec.Decoder MsgSettingsReadByIndexReq msgSettingsReadByIndexReq = Jpipe.decode MsgSettingsReadByIndexReq @@ -6581,8 +6630,8 @@ msgVelCog = |> Jpipe.required "sog" Jdec.int |> Jpipe.required "sog_accuracy" Jdec.int |> Jpipe.required "tow" Jdec.int - |> Jpipe.required "vel_d" Jdec.int - |> Jpipe.required "vel_d_accuracy" Jdec.int + |> Jpipe.required "v_up" Jdec.int + |> Jpipe.required "v_up_accuracy" Jdec.int encodeMsgVelCog : MsgVelCog -> Jenc.Value encodeMsgVelCog x = @@ -6593,8 +6642,8 @@ encodeMsgVelCog x = , ("sog", Jenc.int x.sog) , ("sog_accuracy", Jenc.int x.sogAccuracy) , ("tow", Jenc.int x.tow) - , ("vel_d", Jenc.int x.velD) - , ("vel_d_accuracy", Jenc.int x.velDAccuracy) + , ("v_up", Jenc.int x.vUp) + , ("v_up_accuracy", Jenc.int x.vUpAccuracy) ] msgVelECEF : Jdec.Decoder MsgVelECEF diff --git a/sbpjson/javascript/SbpJson.js b/sbpjson/javascript/SbpJson.js index 79e79e71be..5059d3f4e0 100644 --- a/sbpjson/javascript/SbpJson.js +++ b/sbpjson/javascript/SbpJson.js @@ -121,6 +121,7 @@ // const msgReset = Convert.toMsgReset(json); // const msgResetFilters = Convert.toMsgResetFilters(json); // const msgSbasRaw = Convert.toMsgSbasRaw(json); +// const msgSensorAidEvent = Convert.toMsgSensorAidEvent(json); // const msgSetTime = Convert.toMsgSetTime(json); // const msgSettingsReadByIndexDone = Convert.toMsgSettingsReadByIndexDone(json); // const msgSettingsReadByIndexReq = Convert.toMsgSettingsReadByIndexReq(json); @@ -1145,6 +1146,14 @@ function msgSbasRawToJson(value) { return JSON.stringify(uncast(value, r("MsgSbasRaw")), null, 2); } +function toMsgSensorAidEvent(json) { + return cast(JSON.parse(json), r("MsgSensorAidEvent")); +} + +function msgSensorAidEventToJson(value) { + return JSON.stringify(uncast(value, r("MsgSensorAidEvent")), null, 2); +} + function toMsgSetTime(json) { return cast(JSON.parse(json), m("any")); } @@ -2661,6 +2670,16 @@ const typeMap = { { json: "sid", js: "sid", typ: r("GnssSignal") }, { json: "tow", js: "tow", typ: 0 }, ], "any"), + "MsgSensorAidEvent": o([ + { json: "flags", js: "flags", typ: 0 }, + { json: "n_accepted_meas", js: "n_accepted_meas", typ: 0 }, + { json: "n_attempted_meas", js: "n_attempted_meas", typ: 0 }, + { json: "n_available_meas", js: "n_available_meas", typ: 0 }, + { json: "sensor_id", js: "sensor_id", typ: 0 }, + { json: "sensor_state", js: "sensor_state", typ: 0 }, + { json: "sensor_type", js: "sensor_type", typ: 0 }, + { json: "time", js: "time", typ: 0 }, + ], "any"), "MsgSettingsReadByIndexReq": o([ { json: "index", js: "index", typ: 0 }, ], "any"), @@ -2938,8 +2957,8 @@ const typeMap = { { json: "sog", js: "sog", typ: 0 }, { json: "sog_accuracy", js: "sog_accuracy", typ: 0 }, { json: "tow", js: "tow", typ: 0 }, - { json: "vel_d", js: "vel_d", typ: 0 }, - { json: "vel_d_accuracy", js: "vel_d_accuracy", typ: 0 }, + { json: "v_up", js: "v_up", typ: 0 }, + { json: "v_up_accuracy", js: "v_up_accuracy", typ: 0 }, ], "any"), "MsgVelECEF": o([ { json: "accuracy", js: "accuracy", typ: 0 }, @@ -3285,6 +3304,8 @@ module.exports = { "toMsgResetFilters": toMsgResetFilters, "msgSbasRawToJson": msgSbasRawToJson, "toMsgSbasRaw": toMsgSbasRaw, + "msgSensorAidEventToJson": msgSensorAidEventToJson, + "toMsgSensorAidEvent": toMsgSensorAidEvent, "msgSetTimeToJson": msgSetTimeToJson, "toMsgSetTime": toMsgSetTime, "msgSettingsReadByIndexDoneToJson": msgSettingsReadByIndexDoneToJson, diff --git a/sbpjson/typescript/SbpJson.ts b/sbpjson/typescript/SbpJson.ts index 7054fa3b3a..2616761326 100644 --- a/sbpjson/typescript/SbpJson.ts +++ b/sbpjson/typescript/SbpJson.ts @@ -1,6 +1,6 @@ // To parse this data: // -// import { Convert, AcqSvProfile, AlmanacCommonContent, CarrierPhase, CodeBiasesContent, Doppler, EphemerisCommonContent, EstimatedHorizontalErrorEllipse, GNSSInputType, GnssCapb, GnssSignal, GpsTime, GpsTimeSEC, GridElement, GridElementNoStd, GriddedCorrectionHeader, IMUInputType, Latency, MeasurementState, MsgAcqResult, MsgAcqSvProfile, MsgAgeCorrections, MsgAlmanacGPS, MsgAlmanacGlo, MsgAngularRate, MsgBasePosECEF, MsgBasePosLLH, MsgBaselineECEF, MsgBaselineHeading, MsgBaselineNED, MsgBootloaderHandshakeResp, MsgBootloaderJumpToApp, MsgCellModemStatus, MsgCommandOutput, MsgCommandReq, MsgCommandResp, MsgCsacTelemetry, MsgCsacTelemetryLabels, MsgDeviceMonitor, MsgDgnssStatus, MsgDops, MsgEphemerisBds, MsgEphemerisGPS, MsgEphemerisGal, MsgEphemerisGlo, MsgEphemerisQzss, MsgEphemerisSbas, MsgEXTEvent, MsgFileioConfigReq, MsgFileioConfigResp, MsgFileioReadDirReq, MsgFileioReadDirResp, MsgFileioReadReq, MsgFileioReadResp, MsgFileioRemove, MsgFileioWriteReq, MsgFileioWriteResp, MsgFlashDone, MsgFlashErase, MsgFlashProgram, MsgFlashReadReq, MsgFlashReadResp, MsgFrontEndGain, MsgFwd, MsgGPSTime, MsgGPSTimeGnss, MsgGloBiases, MsgGnssCapb, MsgGnssTimeOffset, MsgGroupDelay, MsgGroupMeta, MsgHeartbeat, MsgIarState, MsgImuAux, MsgImuRaw, MsgInsStatus, MsgInsUpdates, MsgIono, MsgLinuxCPUState, MsgLinuxMemState, MsgLinuxProcessFdCount, MsgLinuxProcessFdSummary, MsgLinuxProcessSocketCounts, MsgLinuxProcessSocketQueues, MsgLinuxSocketUsage, MsgLinuxSysState, MsgLog, MsgM25FlashWriteStatus, MsgMagRaw, MsgMaskSatellite, MsgMeasurementState, MsgNapDeviceDnaResp, MsgNdbEvent, MsgNetworkBandwidthUsage, MsgNetworkStateResp, MsgObs, MsgOdometry, MsgOrientEuler, MsgOrientQuat, MsgOsr, MsgPosECEF, MsgPosECEFCov, MsgPosECEFCovGnss, MsgPosECEFGnss, MsgPosLLH, MsgPosLLHAcc, MsgPosLLHCov, MsgPosLLHCovGnss, MsgPosLLHGnss, MsgPpsTime, MsgProtectionLevel, MsgReset, MsgResetFilters, MsgSbasRaw, MsgSettingsReadByIndexReq, MsgSettingsReadByIndexResp, MsgSettingsReadReq, MsgSettingsReadResp, MsgSettingsRegister, MsgSettingsRegisterResp, MsgSettingsWrite, MsgSettingsWriteResp, MsgSolnMeta, MsgSpecan, MsgSsrCodeBiases, MsgSsrGriddedCorrection, MsgSsrOrbitClock, MsgSsrPhaseBiases, MsgSsrSatelliteApc, MsgSsrStecCorrection, MsgSsrTileDefinition, MsgStartup, MsgStatusReport, MsgStmFlashLockSector, MsgStmFlashUnlockSector, MsgStmUniqueIDResp, MsgSvAzEl, MsgThreadState, MsgTrackingIq, MsgTrackingState, MsgUARTState, MsgUserData, MsgUTCTime, MsgUTCTimeGnss, MsgVelBody, MsgVelCog, MsgVelECEF, MsgVelECEFCov, MsgVelECEFCovGnss, MsgVelECEFGnss, MsgVelNED, MsgVelNEDCov, MsgVelNEDCovGnss, MsgVelNEDGnss, MsgWheeltick, NetworkUsage, ObservationHeader, OdoInputType, PackedObsContent, PackedOsrContent, Period, PhaseBiasesContent, STECHeader, STECResidual, STECResidualNoStd, STECSatElement, SatelliteAPC, SolutionInputType, SubSystemReport, SvAzEl, SvID, TrackingChannelCorrelation, TrackingChannelState, TroposphericDelayCorrection, TroposphericDelayCorrectionNoStd, UARTChannel } from "./file"; +// import { Convert, AcqSvProfile, AlmanacCommonContent, CarrierPhase, CodeBiasesContent, Doppler, EphemerisCommonContent, EstimatedHorizontalErrorEllipse, GNSSInputType, GnssCapb, GnssSignal, GpsTime, GpsTimeSEC, GridElement, GridElementNoStd, GriddedCorrectionHeader, IMUInputType, Latency, MeasurementState, MsgAcqResult, MsgAcqSvProfile, MsgAgeCorrections, MsgAlmanacGPS, MsgAlmanacGlo, MsgAngularRate, MsgBasePosECEF, MsgBasePosLLH, MsgBaselineECEF, MsgBaselineHeading, MsgBaselineNED, MsgBootloaderHandshakeResp, MsgBootloaderJumpToApp, MsgCellModemStatus, MsgCommandOutput, MsgCommandReq, MsgCommandResp, MsgCsacTelemetry, MsgCsacTelemetryLabels, MsgDeviceMonitor, MsgDgnssStatus, MsgDops, MsgEphemerisBds, MsgEphemerisGPS, MsgEphemerisGal, MsgEphemerisGlo, MsgEphemerisQzss, MsgEphemerisSbas, MsgEXTEvent, MsgFileioConfigReq, MsgFileioConfigResp, MsgFileioReadDirReq, MsgFileioReadDirResp, MsgFileioReadReq, MsgFileioReadResp, MsgFileioRemove, MsgFileioWriteReq, MsgFileioWriteResp, MsgFlashDone, MsgFlashErase, MsgFlashProgram, MsgFlashReadReq, MsgFlashReadResp, MsgFrontEndGain, MsgFwd, MsgGPSTime, MsgGPSTimeGnss, MsgGloBiases, MsgGnssCapb, MsgGnssTimeOffset, MsgGroupDelay, MsgGroupMeta, MsgHeartbeat, MsgIarState, MsgImuAux, MsgImuRaw, MsgInsStatus, MsgInsUpdates, MsgIono, MsgLinuxCPUState, MsgLinuxMemState, MsgLinuxProcessFdCount, MsgLinuxProcessFdSummary, MsgLinuxProcessSocketCounts, MsgLinuxProcessSocketQueues, MsgLinuxSocketUsage, MsgLinuxSysState, MsgLog, MsgM25FlashWriteStatus, MsgMagRaw, MsgMaskSatellite, MsgMeasurementState, MsgNapDeviceDnaResp, MsgNdbEvent, MsgNetworkBandwidthUsage, MsgNetworkStateResp, MsgObs, MsgOdometry, MsgOrientEuler, MsgOrientQuat, MsgOsr, MsgPosECEF, MsgPosECEFCov, MsgPosECEFCovGnss, MsgPosECEFGnss, MsgPosLLH, MsgPosLLHAcc, MsgPosLLHCov, MsgPosLLHCovGnss, MsgPosLLHGnss, MsgPpsTime, MsgProtectionLevel, MsgReset, MsgResetFilters, MsgSbasRaw, MsgSensorAidEvent, MsgSettingsReadByIndexReq, MsgSettingsReadByIndexResp, MsgSettingsReadReq, MsgSettingsReadResp, MsgSettingsRegister, MsgSettingsRegisterResp, MsgSettingsWrite, MsgSettingsWriteResp, MsgSolnMeta, MsgSpecan, MsgSsrCodeBiases, MsgSsrGriddedCorrection, MsgSsrOrbitClock, MsgSsrPhaseBiases, MsgSsrSatelliteApc, MsgSsrStecCorrection, MsgSsrTileDefinition, MsgStartup, MsgStatusReport, MsgStmFlashLockSector, MsgStmFlashUnlockSector, MsgStmUniqueIDResp, MsgSvAzEl, MsgThreadState, MsgTrackingIq, MsgTrackingState, MsgUARTState, MsgUserData, MsgUTCTime, MsgUTCTimeGnss, MsgVelBody, MsgVelCog, MsgVelECEF, MsgVelECEFCov, MsgVelECEFCovGnss, MsgVelECEFGnss, MsgVelNED, MsgVelNEDCov, MsgVelNEDCovGnss, MsgVelNEDGnss, MsgWheeltick, NetworkUsage, ObservationHeader, OdoInputType, PackedObsContent, PackedOsrContent, Period, PhaseBiasesContent, STECHeader, STECResidual, STECResidualNoStd, STECSatElement, SatelliteAPC, SolutionInputType, SubSystemReport, SvAzEl, SvID, TrackingChannelCorrelation, TrackingChannelState, TroposphericDelayCorrection, TroposphericDelayCorrectionNoStd, UARTChannel } from "./file"; // // const acqSvProfile = Convert.toAcqSvProfile(json); // const almanacCommonContent = Convert.toAlmanacCommonContent(json); @@ -121,6 +121,7 @@ // const msgReset = Convert.toMsgReset(json); // const msgResetFilters = Convert.toMsgResetFilters(json); // const msgSbasRaw = Convert.toMsgSbasRaw(json); +// const msgSensorAidEvent = Convert.toMsgSensorAidEvent(json); // const msgSetTime = Convert.toMsgSetTime(json); // const msgSettingsReadByIndexDone = Convert.toMsgSettingsReadByIndexDone(json); // const msgSettingsReadByIndexReq = Convert.toMsgSettingsReadByIndexReq(json); @@ -1780,6 +1781,22 @@ export interface MsgSbasRaw { tow: number; } +/** + * This diagnostic message contains state and update status information for all sensors that + * are being used by the fusion engine. This message will be generated asynchronously to the + * solution messages and will be emitted anytime a sensor update is being processed. + */ +export interface MsgSensorAidEvent { + flags: number; + n_accepted_meas: number; + n_attempted_meas: number; + n_available_meas: number; + sensor_id: number; + sensor_state: number; + sensor_type: number; + time: number; +} + /** * The settings message for iterating through the settings values. A device will respond to * this message with a "MSG_SETTINGS_READ_BY_INDEX_RESP". @@ -2335,21 +2352,23 @@ export interface MsgVelBody { /** * This message reports the receiver course over ground (COG) and speed over ground (SOG) * based on the horizontal (N-E) components of the NED velocity vector. It also includes - * the vertical velocity in the form of the D-component of the NED velocity vector. The NED - * coordinate system is defined as the local WGS84 tangent plane centered at the current - * position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching - * time-of-week (tow). Note: course over ground represents the receiver's direction of - * travel, but not necessarily the device heading. + * the vertical velocity coordinate. A flag is provided to indicate whether the COG value + * has been frozen. When the flag is set to true, the COG field is set to its last valid + * value until the system exceeds a minimum velocity threshold. No other fields are + * affected by this flag. The NED coordinate system is defined as the local WGS84 tangent + * plane centered at the current position. The full GPS time is given by the preceding + * MSG_GPS_TIME with the matching time-of-week (tow). Note: course over ground represents + * the receiver's direction of travel, but not necessarily the device heading. */ export interface MsgVelCog { - cog: number; - cog_accuracy: number; - flags: number; - sog: number; - sog_accuracy: number; - tow: number; - vel_d: number; - vel_d_accuracy: number; + cog: number; + cog_accuracy: number; + flags: number; + sog: number; + sog_accuracy: number; + tow: number; + v_up: number; + v_up_accuracy: number; } /** @@ -3478,6 +3497,14 @@ export class Convert { return JSON.stringify(uncast(value, r("MsgSbasRaw")), null, 2); } + public static toMsgSensorAidEvent(json: string): MsgSensorAidEvent { + return cast(JSON.parse(json), r("MsgSensorAidEvent")); + } + + public static msgSensorAidEventToJson(value: MsgSensorAidEvent): string { + return JSON.stringify(uncast(value, r("MsgSensorAidEvent")), null, 2); + } + public static toMsgSetTime(json: string): { [key: string]: any } { return cast(JSON.parse(json), m("any")); } @@ -4995,6 +5022,16 @@ const typeMap: any = { { json: "sid", js: "sid", typ: r("GnssSignal") }, { json: "tow", js: "tow", typ: 0 }, ], "any"), + "MsgSensorAidEvent": o([ + { json: "flags", js: "flags", typ: 0 }, + { json: "n_accepted_meas", js: "n_accepted_meas", typ: 0 }, + { json: "n_attempted_meas", js: "n_attempted_meas", typ: 0 }, + { json: "n_available_meas", js: "n_available_meas", typ: 0 }, + { json: "sensor_id", js: "sensor_id", typ: 0 }, + { json: "sensor_state", js: "sensor_state", typ: 0 }, + { json: "sensor_type", js: "sensor_type", typ: 0 }, + { json: "time", js: "time", typ: 0 }, + ], "any"), "MsgSettingsReadByIndexReq": o([ { json: "index", js: "index", typ: 0 }, ], "any"), @@ -5272,8 +5309,8 @@ const typeMap: any = { { json: "sog", js: "sog", typ: 0 }, { json: "sog_accuracy", js: "sog_accuracy", typ: 0 }, { json: "tow", js: "tow", typ: 0 }, - { json: "vel_d", js: "vel_d", typ: 0 }, - { json: "vel_d_accuracy", js: "vel_d_accuracy", typ: 0 }, + { json: "v_up", js: "v_up", typ: 0 }, + { json: "v_up_accuracy", js: "v_up_accuracy", typ: 0 }, ], "any"), "MsgVelECEF": o([ { json: "accuracy", js: "accuracy", typ: 0 }, diff --git a/spec/tests/yaml/swiftnav/sbp/system/test_MsgSensorAidEvent.yaml b/spec/tests/yaml/swiftnav/sbp/system/test_MsgSensorAidEvent.yaml new file mode 100644 index 0000000000..69822c1ae4 --- /dev/null +++ b/spec/tests/yaml/swiftnav/sbp/system/test_MsgSensorAidEvent.yaml @@ -0,0 +1,29 @@ +description: Unit tests for swiftnav.sbp.system MsgSensorAidEvent +generated_on: '2022-01-27 22:13:32.214821' +package: sbp.system +tests: +- msg: + fields: + flags: 0 + n_accepted_meas: 0 + n_attempted_meas: 0 + n_available_meas: 0 + sensor_id: 0 + sensor_state: 0 + sensor_type: 0 + time: 326825520 + module: sbp.system + name: MsgSensorAidEvent + msg_type: '0xFF09' + raw_json: '{"preamble": 85, "msg_type": 65289, "sender": 35027, "length": 15, "payload": + "MPZ6EwAAAAAAAAAAAAAA", "crc": 60449, "time": 326825520, "sensor_type": 0, "sensor_id": + 0, "sensor_state": 0, "n_available_meas": 0, "n_attempted_meas": 0, "n_accepted_meas": + 0, "flags": 0}' + raw_packet: VQn/04gPMPZ6EwAAAAAAAAAAAAAAIew= + sbp: + crc: '0xEC21' + length: 15 + msg_type: '0xFF09' + payload: MPZ6EwAAAAAAAAAAAAAA + preamble: '0x55' + sender: '0x88D3' diff --git a/spec/yaml/swiftnav/sbp/system.yaml b/spec/yaml/swiftnav/sbp/system.yaml index 9a19189920..61e075275a 100644 --- a/spec/yaml/swiftnav/sbp/system.yaml +++ b/spec/yaml/swiftnav/sbp/system.yaml @@ -430,6 +430,52 @@ definitions: - 2: +/- 10 microseconds - 3: < 1 microseconds + - MSG_SENSOR_AID_EVENT: + id: 0xFF09 # 65289 + short_desc: Sensor state and update status data + desc: > + This diagnostic message contains state and update status information for + all sensors that are being used by the fusion engine. This message will + be generated asynchronously to the solution messages and will be emitted + anytime a sensor update is being processed. + fields: + - time: + type: u32 + units: milliseconds + desc: Update timestamp in milliseconds. + - sensor_type: + type: u8 + desc: Sensor type + fields: + - 0-7: + desc: Type identifier + values: + - 0: GNSS position + - 1: GNSS average velocity + - 2: GNSS instantaneous velocity + - 3: Wheel ticks + - 4: Wheel speed + - 5: IMU + - 6: Time differences of carrier phase + - sensor_id: + type: u16 + desc: Sensor identifier + - sensor_state: + type: u8 + desc: Reserved for future use + - n_available_meas: + type: u8 + desc: Number of available measurements in this epoch + - n_attempted_meas: + type: u8 + desc: Number of attempted measurements in this epoch + - n_accepted_meas: + type: u8 + desc: Number of accepted measurements in this epoch + - flags: + type: u32 + desc: Reserved for future use + - MSG_GROUP_META: id: 0xFF0A # 65290 short_desc: Solution Group Metadata