Add support for MSG_SSR_CODE_PHASE_BIASES_BOUNDS message [OTA-119]

c/include/libsbp/cpp/message_traits.h

@@ -5581,6 +5581,46 @@ struct MessageTraits<sbp_msg_ssr_code_biases_t> {
   }
 };
 
+template <>
+struct MessageTraits<sbp_msg_ssr_code_phase_biases_bounds_t> {
+  static constexpr sbp_msg_type_t id = SbpMsgSsrCodePhaseBiasesBounds;
+  static const sbp_msg_ssr_code_phase_biases_bounds_t &get(
+      const sbp_msg_t &msg) {
+    return msg.ssr_code_phase_biases_bounds;
+  }
+  static sbp_msg_ssr_code_phase_biases_bounds_t &get(sbp_msg_t &msg) {
+    return msg.ssr_code_phase_biases_bounds;
+  }
+  static void to_sbp_msg(const sbp_msg_ssr_code_phase_biases_bounds_t &msg,
+                         sbp_msg_t *sbp_msg) {
+    sbp_msg->ssr_code_phase_biases_bounds = msg;
+  }
+  static sbp_msg_t to_sbp_msg(
+      const sbp_msg_ssr_code_phase_biases_bounds_t &msg) {
+    sbp_msg_t sbp_msg;
+    sbp_msg.ssr_code_phase_biases_bounds = msg;
+    return sbp_msg;
+  }
+  static s8 send(sbp_state_t *state, u16 sender_id,
+                 const sbp_msg_ssr_code_phase_biases_bounds_t &msg,
+                 sbp_write_fn_t write) {
+    return sbp_msg_ssr_code_phase_biases_bounds_send(state, sender_id, &msg,
+                                                     write);
+  }
+  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                   const sbp_msg_ssr_code_phase_biases_bounds_t &msg) {
+    return sbp_msg_ssr_code_phase_biases_bounds_encode(buf, len, n_written,
+                                                       &msg);
+  }
+  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
+                   sbp_msg_ssr_code_phase_biases_bounds_t *msg) {
+    return sbp_msg_ssr_code_phase_biases_bounds_decode(buf, len, n_read, msg);
+  }
+  static size_t encoded_len(const sbp_msg_ssr_code_phase_biases_bounds_t &msg) {
+    return sbp_msg_ssr_code_phase_biases_bounds_encoded_len(&msg);
+  }
+};
+
 template <>
 struct MessageTraits<sbp_msg_ssr_grid_definition_dep_a_t> {
   static constexpr sbp_msg_type_t id = SbpMsgSsrGridDefinitionDepA;

c/include/libsbp/legacy/cpp/message_traits.h

@@ -966,6 +966,12 @@ struct MessageTraits<msg_ssr_stec_correction_dep_a_t> {
 };
 
 
+template<>
+struct MessageTraits<msg_ssr_code_phase_biases_bounds_t> {
+  static constexpr u16 id = 1516;
+};
+
+
 template<>
 struct MessageTraits<msg_ssr_gridded_correction_no_std_dep_a_t> {
   static constexpr u16 id = 1520;

c/include/libsbp/legacy/ssr.h

@@ -573,6 +573,33 @@ typedef struct SBP_ATTR_PACKED {
                                                   Satellite */
 } msg_ssr_orbit_clock_bounds_t;
 
+typedef struct SBP_ATTR_PACKED {
+  u8 sat_id;               /**< Satellite ID. Similar to either RTCM DF068
+                                (GPS), DF252 (Galileo), or DF488 (BDS)
+                                depending on the constellation. */
+  u8 signal_id;            /**< Signal and Tracking Mode Identifier.
+                                Similar to either RTCM DF380 (GPS), DF382
+                                (Galileo) or DF467 (BDS) depending on the
+                                constellation. */
+  u8 code_bias_bound_mu;   /**< Code Bias Mean (range 0-1.275) [0.005 m] */
+  u8 code_bias_bound_sig;  /**< Code Bias Standard Deviation (range
+                                0-1.275) [0.005 m] */
+  u8 phase_bias_bound_mu;  /**< Phase Bias Mean (range 0-1.275) [0.005 m] */
+  u8 phase_bias_bound_sig; /**< Phase Bias Standard Deviation (range
+                                0-1.275) [0.005 m] */
+} code_phase_biases_sat_sig_t;
+
+typedef struct SBP_ATTR_PACKED {
+  bounds_header_t header; /**< Header of a bounds message. */
+  u8 ssr_iod;             /**< IOD of the SSR bound. */
+  u8 const_id;            /**< Constellation ID to which the SVs belong. */
+  u8 n_sats_signals;      /**< Number of satellite-signal couples. */
+  code_phase_biases_sat_sig_t satellites_signals[0]; /**< Code and Phase
+                                                          Biases Bounds per
+                                                          Satellite-Signal
+                                                          couple. */
+} msg_ssr_code_phase_biases_bounds_t;
+
 /** \} */
 
 SBP_PACK_END

c/include/libsbp/sbp_msg_type.h

@@ -208,6 +208,7 @@ typedef enum {
   SbpMsgSpecanDep = SBP_MSG_SPECAN_DEP,
   SbpMsgSpecan = SBP_MSG_SPECAN,
   SbpMsgSsrCodeBiases = SBP_MSG_SSR_CODE_BIASES,
+  SbpMsgSsrCodePhaseBiasesBounds = SBP_MSG_SSR_CODE_PHASE_BIASES_BOUNDS,
   SbpMsgSsrGridDefinitionDepA = SBP_MSG_SSR_GRID_DEFINITION_DEP_A,
   SbpMsgSsrGriddedCorrectionDepA = SBP_MSG_SSR_GRIDDED_CORRECTION_DEP_A,
   SbpMsgSsrGriddedCorrectionNoStdDepA =

c/include/libsbp/ssr_macros.h

@@ -421,4 +421,34 @@
  */
 #define SBP_MSG_SSR_ORBIT_CLOCK_BOUNDS_ENCODED_OVERHEAD 13u
 
+/**
+ * Encoded length of sbp_code_phase_biases_sat_sig_t (V4 API) and
+ * code_phase_biases_sat_sig_t (legacy API)
+ */
+#define SBP_CODE_PHASE_BIASES_SAT_SIG_ENCODED_LEN 6u
+
+#define SBP_MSG_SSR_CODE_PHASE_BIASES_BOUNDS 0x05EC
+/**
+ * The maximum number of items that can be stored in
+ * sbp_msg_ssr_code_phase_biases_bounds_t::satellites_signals (V4 API) or
+ * msg_ssr_code_phase_biases_bounds_t::satellites_signals (legacy API) before
+ * the maximum SBP message size is exceeded
+ */
+#define SBP_MSG_SSR_CODE_PHASE_BIASES_BOUNDS_SATELLITES_SIGNALS_MAX 40u
+
+/**
+ * Encoded length of sbp_msg_ssr_code_phase_biases_bounds_t (V4 API) and
+ * msg_ssr_code_phase_biases_bounds_t (legacy API)
+ *
+ * This type is not fixed size and an instance of this message may be longer
+ * than the value indicated by this symbol. Users of the V4 API should call
+ * #sbp_msg_ssr_code_phase_biases_bounds_encoded_len to determine the actual
+ * size of an instance of this message. Users of the legacy API are required to
+ * track the encoded message length when interacting with the legacy type.
+ *
+ * See the documentation for libsbp for more details regarding the message
+ * structure and its variable length component(s)
+ */
+#define SBP_MSG_SSR_CODE_PHASE_BIASES_BOUNDS_ENCODED_OVERHEAD 13u
+
 #endif /* LIBSBP_SSR_MACROS_H */

c/include/libsbp/v4/sbp_msg.h

@@ -214,6 +214,7 @@ typedef union {
   sbp_msg_specan_dep_t specan_dep;
   sbp_msg_specan_t specan;
   sbp_msg_ssr_code_biases_t ssr_code_biases;
+  sbp_msg_ssr_code_phase_biases_bounds_t ssr_code_phase_biases_bounds;
   sbp_msg_ssr_grid_definition_dep_a_t ssr_grid_definition_dep_a;
   sbp_msg_ssr_gridded_correction_dep_a_t ssr_gridded_correction_dep_a;
   sbp_msg_ssr_gridded_correction_no_std_dep_a_t
@@ -707,6 +708,9 @@ static inline s8 sbp_message_encode(uint8_t *buf, uint8_t len,
     case SbpMsgSsrCodeBiases:
       return sbp_msg_ssr_code_biases_encode(buf, len, n_written,
                                             &msg->ssr_code_biases);
+    case SbpMsgSsrCodePhaseBiasesBounds:
+      return sbp_msg_ssr_code_phase_biases_bounds_encode(
+          buf, len, n_written, &msg->ssr_code_phase_biases_bounds);
     case SbpMsgSsrGridDefinitionDepA:
       return sbp_msg_ssr_grid_definition_dep_a_encode(
           buf, len, n_written, &msg->ssr_grid_definition_dep_a);
@@ -1280,6 +1284,9 @@ static inline s8 sbp_message_decode(const uint8_t *buf, uint8_t len,
     case SbpMsgSsrCodeBiases:
       return sbp_msg_ssr_code_biases_decode(buf, len, n_read,
                                             &msg->ssr_code_biases);
+    case SbpMsgSsrCodePhaseBiasesBounds:
+      return sbp_msg_ssr_code_phase_biases_bounds_decode(
+          buf, len, n_read, &msg->ssr_code_phase_biases_bounds);
     case SbpMsgSsrGridDefinitionDepA:
       return sbp_msg_ssr_grid_definition_dep_a_decode(
           buf, len, n_read, &msg->ssr_grid_definition_dep_a);
@@ -1766,6 +1773,9 @@ static inline size_t sbp_message_encoded_len(sbp_msg_type_t msg_type,
       return sbp_msg_specan_encoded_len(&msg->specan);
     case SbpMsgSsrCodeBiases:
       return sbp_msg_ssr_code_biases_encoded_len(&msg->ssr_code_biases);
+    case SbpMsgSsrCodePhaseBiasesBounds:
+      return sbp_msg_ssr_code_phase_biases_bounds_encoded_len(
+          &msg->ssr_code_phase_biases_bounds);
     case SbpMsgSsrGridDefinitionDepA:
       return sbp_msg_ssr_grid_definition_dep_a_encoded_len(
           &msg->ssr_grid_definition_dep_a);
@@ -2288,6 +2298,9 @@ static inline int sbp_message_cmp(sbp_msg_type_t msg_type, const sbp_msg_t *a,
     case SbpMsgSsrCodeBiases:
       return sbp_msg_ssr_code_biases_cmp(&a->ssr_code_biases,
                                          &b->ssr_code_biases);
+    case SbpMsgSsrCodePhaseBiasesBounds:
+      return sbp_msg_ssr_code_phase_biases_bounds_cmp(
+          &a->ssr_code_phase_biases_bounds, &b->ssr_code_phase_biases_bounds);
     case SbpMsgSsrGridDefinitionDepA:
       return sbp_msg_ssr_grid_definition_dep_a_cmp(
           &a->ssr_grid_definition_dep_a, &b->ssr_grid_definition_dep_a);

c/include/libsbp/v4/ssr.h

@@ -19,10 +19,12 @@
 #define LIBSBP_V4_SSR_MESSAGES_H
 #include <libsbp/v4/ssr/BoundsHeader.h>
 #include <libsbp/v4/ssr/CodeBiasesContent.h>
+#include <libsbp/v4/ssr/CodePhaseBiasesSatSig.h>
 #include <libsbp/v4/ssr/GridDefinitionHeaderDepA.h>
 #include <libsbp/v4/ssr/GriddedCorrectionHeader.h>
 #include <libsbp/v4/ssr/GriddedCorrectionHeaderDepA.h>
 #include <libsbp/v4/ssr/MSG_SSR_CODE_BIASES.h>
+#include <libsbp/v4/ssr/MSG_SSR_CODE_PHASE_BIASES_BOUNDS.h>
 #include <libsbp/v4/ssr/MSG_SSR_GRIDDED_CORRECTION.h>
 #include <libsbp/v4/ssr/MSG_SSR_GRIDDED_CORRECTION_DEP_A.h>
 #include <libsbp/v4/ssr/MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A.h>

c/include/libsbp/v4/ssr/CodePhaseBiasesSatSig.h

@@ -0,0 +1,185 @@
+/*
+ * 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/ssr.yaml
+ * with generate.py. Please do not hand edit!
+ *****************************************************************************/
+
+#ifndef LIBSBP_V4_SSR_CODEPHASEBIASESSATSIG_H
+#define LIBSBP_V4_SSR_CODEPHASEBIASESSATSIG_H
+
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <libsbp/common.h>
+#include <libsbp/ssr_macros.h>
+#include <libsbp/v4/string/sbp_string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+ *
+ * SBP_CODEPHASEBIASESSATSIG
+ *
+ *****************************************************************************/
+typedef struct {
+  /**
+   * Satellite ID. Similar to either RTCM DF068 (GPS), DF252 (Galileo), or DF488
+   * (BDS) depending on the constellation.
+   */
+  u8 sat_id;
+
+  /**
+   * Signal and Tracking Mode Identifier. Similar to either RTCM DF380 (GPS),
+   * DF382 (Galileo) or DF467 (BDS) depending on the constellation.
+   */
+  u8 signal_id;
+
+  /**
+   * Code Bias Mean (range 0-1.275) [0.005 m]
+   */
+  u8 code_bias_bound_mu;
+
+  /**
+   * Code Bias Standard Deviation (range 0-1.275) [0.005 m]
+   */
+  u8 code_bias_bound_sig;
+
+  /**
+   * Phase Bias Mean (range 0-1.275) [0.005 m]
+   */
+  u8 phase_bias_bound_mu;
+
+  /**
+   * Phase Bias Standard Deviation (range 0-1.275) [0.005 m]
+   */
+  u8 phase_bias_bound_sig;
+} sbp_code_phase_biases_sat_sig_t;
+
+/**
+ * Get encoded size of an instance of sbp_code_phase_biases_sat_sig_t
+ *
+ * @param msg sbp_code_phase_biases_sat_sig_t instance
+ * @return Length of on-wire representation
+ */
+static inline size_t sbp_code_phase_biases_sat_sig_encoded_len(
+    const sbp_code_phase_biases_sat_sig_t *msg) {
+  (void)msg;
+  return SBP_CODE_PHASE_BIASES_SAT_SIG_ENCODED_LEN;
+}
+
+/**
+ * Encode an instance of sbp_code_phase_biases_sat_sig_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_code_phase_biases_sat_sig_t to encode
+ * @return SBP_OK on success, or other libsbp error code
+ */
+SBP_EXPORT s8 sbp_code_phase_biases_sat_sig_encode(
+    uint8_t *buf, uint8_t len, uint8_t *n_written,
+    const sbp_code_phase_biases_sat_sig_t *msg);
+
+/**
+ * Decode an instance of sbp_code_phase_biases_sat_sig_t from wire
+ * representation
+ *
+ * This function decodes the wire representation of a
+ * sbp_code_phase_biases_sat_sig_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_code_phase_biases_sat_sig_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_code_phase_biases_sat_sig_decode(
+    const uint8_t *buf, uint8_t len, uint8_t *n_read,
+    sbp_code_phase_biases_sat_sig_t *msg);
+
+/**
+ * Compare two instances of sbp_code_phase_biases_sat_sig_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_code_phase_biases_sat_sig_t instance
+ * @param b sbp_code_phase_biases_sat_sig_t instance
+ * @return 0, <0, >0
+ */
+SBP_EXPORT int sbp_code_phase_biases_sat_sig_cmp(
+    const sbp_code_phase_biases_sat_sig_t *a,
+    const sbp_code_phase_biases_sat_sig_t *b);
+
+#ifdef __cplusplus
+}
+
+static inline bool operator==(const sbp_code_phase_biases_sat_sig_t &lhs,
+                              const sbp_code_phase_biases_sat_sig_t &rhs) {
+  return sbp_code_phase_biases_sat_sig_cmp(&lhs, &rhs) == 0;
+}
+
+static inline bool operator!=(const sbp_code_phase_biases_sat_sig_t &lhs,
+                              const sbp_code_phase_biases_sat_sig_t &rhs) {
+  return sbp_code_phase_biases_sat_sig_cmp(&lhs, &rhs) != 0;
+}
+
+static inline bool operator<(const sbp_code_phase_biases_sat_sig_t &lhs,
+                             const sbp_code_phase_biases_sat_sig_t &rhs) {
+  return sbp_code_phase_biases_sat_sig_cmp(&lhs, &rhs) < 0;
+}
+
+static inline bool operator<=(const sbp_code_phase_biases_sat_sig_t &lhs,
+                              const sbp_code_phase_biases_sat_sig_t &rhs) {
+  return sbp_code_phase_biases_sat_sig_cmp(&lhs, &rhs) <= 0;
+}
+
+static inline bool operator>(const sbp_code_phase_biases_sat_sig_t &lhs,
+                             const sbp_code_phase_biases_sat_sig_t &rhs) {
+  return sbp_code_phase_biases_sat_sig_cmp(&lhs, &rhs) > 0;
+}
+
+static inline bool operator>=(const sbp_code_phase_biases_sat_sig_t &lhs,
+                              const sbp_code_phase_biases_sat_sig_t &rhs) {
+  return sbp_code_phase_biases_sat_sig_cmp(&lhs, &rhs) >= 0;
+}
+
+#endif  // ifdef __cplusplus
+
+#endif /* LIBSBP_V4_SSR_CODEPHASEBIASESSATSIG_H */