diff --git a/c/include/libsbp/cpp/message_traits.h b/c/include/libsbp/cpp/message_traits.h index 8fee293e95..3e689e61e7 100644 --- a/c/include/libsbp/cpp/message_traits.h +++ b/c/include/libsbp/cpp/message_traits.h @@ -3199,6 +3199,36 @@ struct MessageTraits { } }; +template <> +struct MessageTraits { + static constexpr sbp_msg_type_t id = SbpMsgItrf; + static const sbp_msg_itrf_t &get(const sbp_msg_t &msg) { return msg.itrf; } + static sbp_msg_itrf_t &get(sbp_msg_t &msg) { return msg.itrf; } + static void to_sbp_msg(const sbp_msg_itrf_t &msg, sbp_msg_t *sbp_msg) { + sbp_msg->itrf = msg; + } + static sbp_msg_t to_sbp_msg(const sbp_msg_itrf_t &msg) { + sbp_msg_t sbp_msg; + sbp_msg.itrf = msg; + return sbp_msg; + } + static s8 send(sbp_state_t *state, u16 sender_id, const sbp_msg_itrf_t &msg, + sbp_write_fn_t write) { + return sbp_msg_itrf_send(state, sender_id, &msg, write); + } + static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written, + const sbp_msg_itrf_t &msg) { + return sbp_msg_itrf_encode(buf, len, n_written, &msg); + } + static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read, + sbp_msg_itrf_t *msg) { + return sbp_msg_itrf_decode(buf, len, n_read, msg); + } + static size_t encoded_len(const sbp_msg_itrf_t &msg) { + return sbp_msg_itrf_encoded_len(&msg); + } +}; + template <> struct MessageTraits { static constexpr sbp_msg_type_t id = SbpMsgLinuxCpuStateDepA; diff --git a/c/include/libsbp/legacy/cpp/message_traits.h b/c/include/libsbp/legacy/cpp/message_traits.h index 53b815ded2..150af8d2b9 100644 --- a/c/include/libsbp/legacy/cpp/message_traits.h +++ b/c/include/libsbp/legacy/cpp/message_traits.h @@ -913,6 +913,12 @@ struct MessageTraits { }; +template<> +struct MessageTraits { + static constexpr u16 id = 580; +}; + + template<> struct MessageTraits { static constexpr u16 id = 1024; diff --git a/c/include/libsbp/legacy/navigation.h b/c/include/libsbp/legacy/navigation.h index 06c1673222..8002b3b6a2 100644 --- a/c/include/libsbp/legacy/navigation.h +++ b/c/include/libsbp/legacy/navigation.h @@ -919,6 +919,39 @@ typedef struct SBP_ATTR_PACKED { u32 flags; /**< Status flags */ } msg_protection_level_t; +typedef struct SBP_ATTR_PACKED { + u8 ssr_iod; /**< SSR IOD parameter. */ + u8 sn_counter_n; /**< Source-Name Counter N. */ + char sn[31]; /**< Source-Name */ + u8 tn_counter_m; /**< Target-Name Counter M. */ + char tn[31]; /**< Target-Name */ + u8 sin; /**< System Identification Number. */ + u16 utn; /**< Utilized Transformation Message. */ + u16 re_t0; /**< Reference Epoch t0 for transformation parameter + set given as Modified Julian Day (MDJ) Number + minus 44244 days. [1 day] */ + s32 delta_X0; /**< Translation in X for Reference Epoch t0. [0.001 m] */ + s32 delta_Y0; /**< Translation in Y for Reference Epoch t0. [0.001 m] */ + s32 delta_Z0; /**< Translation in Z for Reference Epoch t0. [0.001 m] */ + s32 theta_01; /**< Rotation around the X-axis for Reference Epoch t0. [0.00002 + "] */ + s32 theta_02; /**< Rotation around the Y-axis for Reference Epoch t0. [0.00002 + "] */ + s32 theta_03; /**< Rotation around the Z-axis for Reference Epoch t0. [0.00002 + "] */ + s32 scale; /**< Scale correction for Reference Epoch t0. [0.00001 ppm] */ + s32 dot_delta_X0; /**< Rate of change of translation in X. [0.00002 m/yr] */ + s32 dot_delta_Y0; /**< Rate of change of translation in Y. [0.00002 m/yr] */ + s32 dot_delta_Z0; /**< Rate of change of translation in Z. [0.00002 m/yr] */ + s32 dot_theta_01; /**< Rate of change of rotation around the X-axis. + [0.0000004 "/yr] */ + s32 dot_theta_02; /**< Rate of change of rotation around the Y-axis. + [0.0000004 "/yr] */ + s32 dot_theta_03; /**< Rate of change of rotation around the Z-axis. + [0.0000004 "/yr] */ + s16 dot_scale; /**< Rate of change of scale correction. [0.0000002 ppm/yr] */ +} msg_itrf_t; + /** \} */ SBP_PACK_END diff --git a/c/include/libsbp/navigation_macros.h b/c/include/libsbp/navigation_macros.h index 886b77ff02..a65f792046 100644 --- a/c/include/libsbp/navigation_macros.h +++ b/c/include/libsbp/navigation_macros.h @@ -1736,4 +1736,25 @@ */ #define SBP_MSG_PROTECTION_LEVEL_ENCODED_LEN 76u +#define SBP_MSG_ITRF 0x0244 +/** + * The maximum number of items that can be stored in sbp_msg_itrf_t::sn (V4 API) + * or msg_itrf_t::sn (legacy API) before the maximum SBP message size is + * exceeded + */ +#define SBP_MSG_ITRF_SN_MAX 31u + +/** + * The maximum number of items that can be stored in sbp_msg_itrf_t::tn (V4 API) + * or msg_itrf_t::tn (legacy API) before the maximum SBP message size is + * exceeded + */ +#define SBP_MSG_ITRF_TN_MAX 31u + +/** + * Encoded length of sbp_msg_itrf_t (V4 API) and + * msg_itrf_t (legacy API) + */ +#define SBP_MSG_ITRF_ENCODED_LEN 124u + #endif /* LIBSBP_NAVIGATION_MACROS_H */ diff --git a/c/include/libsbp/sbp_msg_type.h b/c/include/libsbp/sbp_msg_type.h index ec5f1af697..4c58fe9b10 100644 --- a/c/include/libsbp/sbp_msg_type.h +++ b/c/include/libsbp/sbp_msg_type.h @@ -142,6 +142,7 @@ typedef enum { SbpMsgInsStatus = SBP_MSG_INS_STATUS, SbpMsgInsUpdates = SBP_MSG_INS_UPDATES, SbpMsgIono = SBP_MSG_IONO, + SbpMsgItrf = SBP_MSG_ITRF, SbpMsgLinuxCpuStateDepA = SBP_MSG_LINUX_CPU_STATE_DEP_A, SbpMsgLinuxCpuState = SBP_MSG_LINUX_CPU_STATE, SbpMsgLinuxMemStateDepA = SBP_MSG_LINUX_MEM_STATE_DEP_A, diff --git a/c/include/libsbp/v4/navigation.h b/c/include/libsbp/v4/navigation.h index ae2060d7ca..0b46e71927 100644 --- a/c/include/libsbp/v4/navigation.h +++ b/c/include/libsbp/v4/navigation.h @@ -29,6 +29,7 @@ #include #include #include +#include #include #include #include diff --git a/c/include/libsbp/v4/navigation/MSG_ITRF.h b/c/include/libsbp/v4/navigation/MSG_ITRF.h new file mode 100644 index 0000000000..361db39f5c --- /dev/null +++ b/c/include/libsbp/v4/navigation/MSG_ITRF.h @@ -0,0 +1,277 @@ +/* + * 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/navigation.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#ifndef LIBSBP_V4_NAVIGATION_MSG_ITRF_H +#define LIBSBP_V4_NAVIGATION_MSG_ITRF_H + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/****************************************************************************** + * + * SBP_MSG_ITRF + * + *****************************************************************************/ +typedef struct { + /** + * SSR IOD parameter. + */ + u8 ssr_iod; + + /** + * Source-Name Counter N. + */ + u8 sn_counter_n; + + /** + * Source-Name + */ + char sn[SBP_MSG_ITRF_SN_MAX]; + + /** + * Target-Name Counter M. + */ + u8 tn_counter_m; + + /** + * Target-Name + */ + char tn[SBP_MSG_ITRF_TN_MAX]; + + /** + * System Identification Number. + */ + u8 sin; + + /** + * Utilized Transformation Message. + */ + u16 utn; + + /** + * Reference Epoch t0 for transformation parameter set given as Modified + * Julian Day (MDJ) Number minus 44244 days. [1 day] + */ + u16 re_t0; + + /** + * Translation in X for Reference Epoch t0. [0.001 m] + */ + s32 delta_X0; + + /** + * Translation in Y for Reference Epoch t0. [0.001 m] + */ + s32 delta_Y0; + + /** + * Translation in Z for Reference Epoch t0. [0.001 m] + */ + s32 delta_Z0; + + /** + * Rotation around the X-axis for Reference Epoch t0. [0.00002 "] + */ + s32 theta_01; + + /** + * Rotation around the Y-axis for Reference Epoch t0. [0.00002 "] + */ + s32 theta_02; + + /** + * Rotation around the Z-axis for Reference Epoch t0. [0.00002 "] + */ + s32 theta_03; + + /** + * Scale correction for Reference Epoch t0. [0.00001 ppm] + */ + s32 scale; + + /** + * Rate of change of translation in X. [0.00002 m/yr] + */ + s32 dot_delta_X0; + + /** + * Rate of change of translation in Y. [0.00002 m/yr] + */ + s32 dot_delta_Y0; + + /** + * Rate of change of translation in Z. [0.00002 m/yr] + */ + s32 dot_delta_Z0; + + /** + * Rate of change of rotation around the X-axis. [0.0000004 "/yr] + */ + s32 dot_theta_01; + + /** + * Rate of change of rotation around the Y-axis. [0.0000004 "/yr] + */ + s32 dot_theta_02; + + /** + * Rate of change of rotation around the Z-axis. [0.0000004 "/yr] + */ + s32 dot_theta_03; + + /** + * Rate of change of scale correction. [0.0000002 ppm/yr] + */ + s16 dot_scale; +} sbp_msg_itrf_t; + +/** + * Get encoded size of an instance of sbp_msg_itrf_t + * + * @param msg sbp_msg_itrf_t instance + * @return Length of on-wire representation + */ +static inline size_t sbp_msg_itrf_encoded_len(const sbp_msg_itrf_t *msg) { + (void)msg; + return SBP_MSG_ITRF_ENCODED_LEN; +} + +/** + * Encode an instance of sbp_msg_itrf_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_itrf_t to encode + * @return SBP_OK on success, or other libsbp error code + */ +SBP_EXPORT s8 sbp_msg_itrf_encode(uint8_t *buf, uint8_t len, uint8_t *n_written, + const sbp_msg_itrf_t *msg); + +/** + * Decode an instance of sbp_msg_itrf_t from wire representation + * + * This function decodes the wire representation of a sbp_msg_itrf_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_itrf_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_itrf_decode(const uint8_t *buf, uint8_t len, + uint8_t *n_read, sbp_msg_itrf_t *msg); +/** + * Send an instance of sbp_msg_itrf_t with the given write function + * + * An equivalent of #sbp_message_send which operates specifically on + * sbp_msg_itrf_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_itrf_send(sbp_state_t *s, u16 sender_id, + const sbp_msg_itrf_t *msg, + sbp_write_fn_t write); + +/** + * Compare two instances of sbp_msg_itrf_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_itrf_t instance + * @param b sbp_msg_itrf_t instance + * @return 0, <0, >0 + */ +SBP_EXPORT int sbp_msg_itrf_cmp(const sbp_msg_itrf_t *a, + const sbp_msg_itrf_t *b); + +#ifdef __cplusplus +} + +static inline bool operator==(const sbp_msg_itrf_t &lhs, + const sbp_msg_itrf_t &rhs) { + return sbp_msg_itrf_cmp(&lhs, &rhs) == 0; +} + +static inline bool operator!=(const sbp_msg_itrf_t &lhs, + const sbp_msg_itrf_t &rhs) { + return sbp_msg_itrf_cmp(&lhs, &rhs) != 0; +} + +static inline bool operator<(const sbp_msg_itrf_t &lhs, + const sbp_msg_itrf_t &rhs) { + return sbp_msg_itrf_cmp(&lhs, &rhs) < 0; +} + +static inline bool operator<=(const sbp_msg_itrf_t &lhs, + const sbp_msg_itrf_t &rhs) { + return sbp_msg_itrf_cmp(&lhs, &rhs) <= 0; +} + +static inline bool operator>(const sbp_msg_itrf_t &lhs, + const sbp_msg_itrf_t &rhs) { + return sbp_msg_itrf_cmp(&lhs, &rhs) > 0; +} + +static inline bool operator>=(const sbp_msg_itrf_t &lhs, + const sbp_msg_itrf_t &rhs) { + return sbp_msg_itrf_cmp(&lhs, &rhs) >= 0; +} + +#endif // ifdef __cplusplus + +#endif /* LIBSBP_V4_NAVIGATION_MSG_ITRF_H */ diff --git a/c/include/libsbp/v4/sbp_msg.h b/c/include/libsbp/v4/sbp_msg.h index d34875fdbb..8f8a73eb4d 100644 --- a/c/include/libsbp/v4/sbp_msg.h +++ b/c/include/libsbp/v4/sbp_msg.h @@ -148,6 +148,7 @@ typedef union { sbp_msg_ins_status_t ins_status; sbp_msg_ins_updates_t ins_updates; sbp_msg_iono_t iono; + sbp_msg_itrf_t itrf; sbp_msg_linux_cpu_state_dep_a_t linux_cpu_state_dep_a; sbp_msg_linux_cpu_state_t linux_cpu_state; sbp_msg_linux_mem_state_dep_a_t linux_mem_state_dep_a; @@ -542,6 +543,8 @@ static inline s8 sbp_message_encode(uint8_t *buf, uint8_t len, return sbp_msg_ins_updates_encode(buf, len, n_written, &msg->ins_updates); case SbpMsgIono: return sbp_msg_iono_encode(buf, len, n_written, &msg->iono); + case SbpMsgItrf: + return sbp_msg_itrf_encode(buf, len, n_written, &msg->itrf); case SbpMsgLinuxCpuStateDepA: return sbp_msg_linux_cpu_state_dep_a_encode(buf, len, n_written, &msg->linux_cpu_state_dep_a); @@ -1151,6 +1154,8 @@ static inline s8 sbp_message_decode(const uint8_t *buf, uint8_t len, return sbp_msg_ins_updates_decode(buf, len, n_read, &msg->ins_updates); case SbpMsgIono: return sbp_msg_iono_decode(buf, len, n_read, &msg->iono); + case SbpMsgItrf: + return sbp_msg_itrf_decode(buf, len, n_read, &msg->itrf); case SbpMsgLinuxCpuStateDepA: return sbp_msg_linux_cpu_state_dep_a_decode(buf, len, n_read, &msg->linux_cpu_state_dep_a); @@ -1697,6 +1702,8 @@ static inline size_t sbp_message_encoded_len(sbp_msg_type_t msg_type, return sbp_msg_ins_updates_encoded_len(&msg->ins_updates); case SbpMsgIono: return sbp_msg_iono_encoded_len(&msg->iono); + case SbpMsgItrf: + return sbp_msg_itrf_encoded_len(&msg->itrf); case SbpMsgLinuxCpuStateDepA: return sbp_msg_linux_cpu_state_dep_a_encoded_len( &msg->linux_cpu_state_dep_a); @@ -2230,6 +2237,8 @@ static inline int sbp_message_cmp(sbp_msg_type_t msg_type, const sbp_msg_t *a, return sbp_msg_ins_updates_cmp(&a->ins_updates, &b->ins_updates); case SbpMsgIono: return sbp_msg_iono_cmp(&a->iono, &b->iono); + case SbpMsgItrf: + return sbp_msg_itrf_cmp(&a->itrf, &b->itrf); case SbpMsgLinuxCpuStateDepA: return sbp_msg_linux_cpu_state_dep_a_cmp(&a->linux_cpu_state_dep_a, &b->linux_cpu_state_dep_a); diff --git a/c/src/include/libsbp/internal/v4/navigation.h b/c/src/include/libsbp/internal/v4/navigation.h index df635d37c8..6f7e403680 100644 --- a/c/src/include/libsbp/internal/v4/navigation.h +++ b/c/src/include/libsbp/internal/v4/navigation.h @@ -806,6 +806,25 @@ bool sbp_msg_protection_level_encode_internal( bool sbp_msg_protection_level_decode_internal(sbp_decode_ctx_t *ctx, sbp_msg_protection_level_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_itrf_encode_internal(sbp_encode_ctx_t *ctx, + const sbp_msg_itrf_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_itrf_decode_internal(sbp_decode_ctx_t *ctx, sbp_msg_itrf_t *msg); + #ifdef __cplusplus } #endif diff --git a/c/src/v4/navigation.c b/c/src/v4/navigation.c index fbf90beca2..1d56ee2068 100644 --- a/c/src/v4/navigation.c +++ b/c/src/v4/navigation.c @@ -5971,3 +5971,313 @@ int sbp_msg_protection_level_cmp(const sbp_msg_protection_level_t *a, } return ret; } + +bool sbp_msg_itrf_encode_internal(sbp_encode_ctx_t *ctx, + const sbp_msg_itrf_t *msg) { + if (!sbp_u8_encode(ctx, &msg->ssr_iod)) { + return false; + } + if (!sbp_u8_encode(ctx, &msg->sn_counter_n)) { + return false; + } + for (size_t i = 0; i < SBP_MSG_ITRF_SN_MAX; i++) { + if (!sbp_char_encode(ctx, &msg->sn[i])) { + return false; + } + } + if (!sbp_u8_encode(ctx, &msg->tn_counter_m)) { + return false; + } + for (size_t i = 0; i < SBP_MSG_ITRF_TN_MAX; i++) { + if (!sbp_char_encode(ctx, &msg->tn[i])) { + return false; + } + } + if (!sbp_u8_encode(ctx, &msg->sin)) { + return false; + } + if (!sbp_u16_encode(ctx, &msg->utn)) { + return false; + } + if (!sbp_u16_encode(ctx, &msg->re_t0)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->delta_X0)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->delta_Y0)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->delta_Z0)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->theta_01)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->theta_02)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->theta_03)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->scale)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->dot_delta_X0)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->dot_delta_Y0)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->dot_delta_Z0)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->dot_theta_01)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->dot_theta_02)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->dot_theta_03)) { + return false; + } + if (!sbp_s16_encode(ctx, &msg->dot_scale)) { + return false; + } + return true; +} + +s8 sbp_msg_itrf_encode(uint8_t *buf, uint8_t len, uint8_t *n_written, + const sbp_msg_itrf_t *msg) { + sbp_encode_ctx_t ctx; + ctx.buf = buf; + ctx.buf_len = len; + ctx.offset = 0; + if (!sbp_msg_itrf_encode_internal(&ctx, msg)) { + return SBP_ENCODE_ERROR; + } + if (n_written != NULL) { + *n_written = (uint8_t)ctx.offset; + } + return SBP_OK; +} + +bool sbp_msg_itrf_decode_internal(sbp_decode_ctx_t *ctx, sbp_msg_itrf_t *msg) { + if (!sbp_u8_decode(ctx, &msg->ssr_iod)) { + return false; + } + if (!sbp_u8_decode(ctx, &msg->sn_counter_n)) { + return false; + } + for (uint8_t i = 0; i < SBP_MSG_ITRF_SN_MAX; i++) { + if (!sbp_char_decode(ctx, &msg->sn[i])) { + return false; + } + } + if (!sbp_u8_decode(ctx, &msg->tn_counter_m)) { + return false; + } + for (uint8_t i = 0; i < SBP_MSG_ITRF_TN_MAX; i++) { + if (!sbp_char_decode(ctx, &msg->tn[i])) { + return false; + } + } + if (!sbp_u8_decode(ctx, &msg->sin)) { + return false; + } + if (!sbp_u16_decode(ctx, &msg->utn)) { + return false; + } + if (!sbp_u16_decode(ctx, &msg->re_t0)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->delta_X0)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->delta_Y0)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->delta_Z0)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->theta_01)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->theta_02)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->theta_03)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->scale)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->dot_delta_X0)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->dot_delta_Y0)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->dot_delta_Z0)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->dot_theta_01)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->dot_theta_02)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->dot_theta_03)) { + return false; + } + if (!sbp_s16_decode(ctx, &msg->dot_scale)) { + return false; + } + return true; +} + +s8 sbp_msg_itrf_decode(const uint8_t *buf, uint8_t len, uint8_t *n_read, + sbp_msg_itrf_t *msg) { + sbp_decode_ctx_t ctx; + ctx.buf = buf; + ctx.buf_len = len; + ctx.offset = 0; + if (!sbp_msg_itrf_decode_internal(&ctx, msg)) { + return SBP_DECODE_ERROR; + } + if (n_read != NULL) { + *n_read = (uint8_t)ctx.offset; + } + return SBP_OK; +} + +s8 sbp_msg_itrf_send(sbp_state_t *s, u16 sender_id, const sbp_msg_itrf_t *msg, + sbp_write_fn_t write) { + uint8_t payload[SBP_MAX_PAYLOAD_LEN]; + uint8_t payload_len; + s8 ret = sbp_msg_itrf_encode(payload, sizeof(payload), &payload_len, msg); + if (ret != SBP_OK) { + return ret; + } + return sbp_payload_send(s, SBP_MSG_ITRF, sender_id, payload_len, payload, + write); +} + +int sbp_msg_itrf_cmp(const sbp_msg_itrf_t *a, const sbp_msg_itrf_t *b) { + int ret = 0; + + ret = sbp_u8_cmp(&a->ssr_iod, &b->ssr_iod); + if (ret != 0) { + return ret; + } + + ret = sbp_u8_cmp(&a->sn_counter_n, &b->sn_counter_n); + if (ret != 0) { + return ret; + } + + for (uint8_t i = 0; ret == 0 && i < SBP_MSG_ITRF_SN_MAX; i++) { + ret = sbp_char_cmp(&a->sn[i], &b->sn[i]); + } + if (ret != 0) { + return ret; + } + + ret = sbp_u8_cmp(&a->tn_counter_m, &b->tn_counter_m); + if (ret != 0) { + return ret; + } + + for (uint8_t i = 0; ret == 0 && i < SBP_MSG_ITRF_TN_MAX; i++) { + ret = sbp_char_cmp(&a->tn[i], &b->tn[i]); + } + if (ret != 0) { + return ret; + } + + ret = sbp_u8_cmp(&a->sin, &b->sin); + if (ret != 0) { + return ret; + } + + ret = sbp_u16_cmp(&a->utn, &b->utn); + if (ret != 0) { + return ret; + } + + ret = sbp_u16_cmp(&a->re_t0, &b->re_t0); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->delta_X0, &b->delta_X0); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->delta_Y0, &b->delta_Y0); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->delta_Z0, &b->delta_Z0); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->theta_01, &b->theta_01); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->theta_02, &b->theta_02); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->theta_03, &b->theta_03); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->scale, &b->scale); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->dot_delta_X0, &b->dot_delta_X0); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->dot_delta_Y0, &b->dot_delta_Y0); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->dot_delta_Z0, &b->dot_delta_Z0); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->dot_theta_01, &b->dot_theta_01); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->dot_theta_02, &b->dot_theta_02); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->dot_theta_03, &b->dot_theta_03); + if (ret != 0) { + return ret; + } + + ret = sbp_s16_cmp(&a->dot_scale, &b->dot_scale); + if (ret != 0) { + return ret; + } + return ret; +} diff --git a/c/test/auto_check_sbp_navigation_MsgItrf.c b/c/test/auto_check_sbp_navigation_MsgItrf.c new file mode 100644 index 0000000000..2d5528311b --- /dev/null +++ b/c/test/auto_check_sbp_navigation_MsgItrf.c @@ -0,0 +1,333 @@ +/* + * 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/navigation/test_MsgItrf.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_navigation_MsgItrf) { + 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, 580, &msg_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n); + + u8 encoded_frame[] = { + 85, 68, 2, 66, 0, 124, 1, 2, 102, 111, 111, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 3, 98, 97, 114, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 4, 5, 0, 6, 0, 7, 0, 0, 0, 8, 0, 0, 0, 9, + 0, 0, 0, 10, 0, 0, 0, 11, 0, 0, 0, 12, 0, 0, 0, 13, 0, + 0, 0, 14, 0, 0, 0, 15, 0, 0, 0, 16, 0, 0, 0, 17, 0, 0, + 0, 18, 0, 0, 0, 19, 0, 0, 0, 20, 0, 66, 126, + }; + + dummy_reset(); + + sbp_msg_t test_msg; + memset(&test_msg, 0, sizeof(test_msg)); + + test_msg.itrf.delta_X0 = 7; + + test_msg.itrf.delta_Y0 = 8; + + test_msg.itrf.delta_Z0 = 9; + + test_msg.itrf.dot_delta_X0 = 14; + + test_msg.itrf.dot_delta_Y0 = 15; + + test_msg.itrf.dot_delta_Z0 = 16; + + test_msg.itrf.dot_scale = 20; + + test_msg.itrf.dot_theta_01 = 17; + + test_msg.itrf.dot_theta_02 = 18; + + test_msg.itrf.dot_theta_03 = 19; + + test_msg.itrf.re_t0 = 6; + + test_msg.itrf.scale = 13; + + test_msg.itrf.sin = 4; + + { + const char assign_string[] = { + (char)102, (char)111, (char)111, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + memcpy(test_msg.itrf.sn, assign_string, sizeof(assign_string)); + } + + test_msg.itrf.sn_counter_n = 2; + + test_msg.itrf.ssr_iod = 1; + + test_msg.itrf.theta_01 = 10; + + test_msg.itrf.theta_02 = 11; + + test_msg.itrf.theta_03 = 12; + + { + const char assign_string[] = { + (char)98, (char)97, (char)114, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + memcpy(test_msg.itrf.tn, assign_string, sizeof(assign_string)); + } + + test_msg.itrf.tn_counter_m = 3; + + test_msg.itrf.utn = 5; + + sbp_message_send(&sbp_state, SbpMsgItrf, 66, &test_msg, &dummy_write); + + ck_assert_msg(dummy_wr == sizeof(encoded_frame), + "not enough data was written to dummy_buff (expected: %zu, " + "actual: %zu)", + sizeof(encoded_frame), dummy_wr); + 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 == 66, + "msg_callback: sender_id decoded incorrectly"); + + ck_assert_msg(sbp_message_cmp(SbpMsgItrf, &last_msg.msg, &test_msg) == 0, + "Sent and received messages did not compare equal"); + + ck_assert_msg( + last_msg.msg.itrf.delta_X0 == 7, + "incorrect value for last_msg.msg.itrf.delta_X0, expected 7, is %d", + last_msg.msg.itrf.delta_X0); + + ck_assert_msg( + last_msg.msg.itrf.delta_Y0 == 8, + "incorrect value for last_msg.msg.itrf.delta_Y0, expected 8, is %d", + last_msg.msg.itrf.delta_Y0); + + ck_assert_msg( + last_msg.msg.itrf.delta_Z0 == 9, + "incorrect value for last_msg.msg.itrf.delta_Z0, expected 9, is %d", + last_msg.msg.itrf.delta_Z0); + + ck_assert_msg(last_msg.msg.itrf.dot_delta_X0 == 14, + "incorrect value for last_msg.msg.itrf.dot_delta_X0, " + "expected 14, is %d", + last_msg.msg.itrf.dot_delta_X0); + + ck_assert_msg(last_msg.msg.itrf.dot_delta_Y0 == 15, + "incorrect value for last_msg.msg.itrf.dot_delta_Y0, " + "expected 15, is %d", + last_msg.msg.itrf.dot_delta_Y0); + + ck_assert_msg(last_msg.msg.itrf.dot_delta_Z0 == 16, + "incorrect value for last_msg.msg.itrf.dot_delta_Z0, " + "expected 16, is %d", + last_msg.msg.itrf.dot_delta_Z0); + + ck_assert_msg( + last_msg.msg.itrf.dot_scale == 20, + "incorrect value for last_msg.msg.itrf.dot_scale, expected 20, is %d", + last_msg.msg.itrf.dot_scale); + + ck_assert_msg(last_msg.msg.itrf.dot_theta_01 == 17, + "incorrect value for last_msg.msg.itrf.dot_theta_01, " + "expected 17, is %d", + last_msg.msg.itrf.dot_theta_01); + + ck_assert_msg(last_msg.msg.itrf.dot_theta_02 == 18, + "incorrect value for last_msg.msg.itrf.dot_theta_02, " + "expected 18, is %d", + last_msg.msg.itrf.dot_theta_02); + + ck_assert_msg(last_msg.msg.itrf.dot_theta_03 == 19, + "incorrect value for last_msg.msg.itrf.dot_theta_03, " + "expected 19, is %d", + last_msg.msg.itrf.dot_theta_03); + + ck_assert_msg( + last_msg.msg.itrf.re_t0 == 6, + "incorrect value for last_msg.msg.itrf.re_t0, expected 6, is %d", + last_msg.msg.itrf.re_t0); + + ck_assert_msg( + last_msg.msg.itrf.scale == 13, + "incorrect value for last_msg.msg.itrf.scale, expected 13, is %d", + last_msg.msg.itrf.scale); + + ck_assert_msg( + last_msg.msg.itrf.sin == 4, + "incorrect value for last_msg.msg.itrf.sin, expected 4, is %d", + last_msg.msg.itrf.sin); + + { + const char check_string[] = { + (char)102, (char)111, (char)111, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + ck_assert_msg(memcmp(&last_msg.msg.itrf.sn, check_string, + sizeof(check_string)) == 0, + "incorrect value for last_msg.msg.itrf.sn, expected string " + "'%s', is '%s'", + check_string, last_msg.msg.itrf.sn); + } + + ck_assert_msg( + last_msg.msg.itrf.sn_counter_n == 2, + "incorrect value for last_msg.msg.itrf.sn_counter_n, expected 2, is %d", + last_msg.msg.itrf.sn_counter_n); + + ck_assert_msg( + last_msg.msg.itrf.ssr_iod == 1, + "incorrect value for last_msg.msg.itrf.ssr_iod, expected 1, is %d", + last_msg.msg.itrf.ssr_iod); + + ck_assert_msg( + last_msg.msg.itrf.theta_01 == 10, + "incorrect value for last_msg.msg.itrf.theta_01, expected 10, is %d", + last_msg.msg.itrf.theta_01); + + ck_assert_msg( + last_msg.msg.itrf.theta_02 == 11, + "incorrect value for last_msg.msg.itrf.theta_02, expected 11, is %d", + last_msg.msg.itrf.theta_02); + + ck_assert_msg( + last_msg.msg.itrf.theta_03 == 12, + "incorrect value for last_msg.msg.itrf.theta_03, expected 12, is %d", + last_msg.msg.itrf.theta_03); + + { + const char check_string[] = { + (char)98, (char)97, (char)114, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + ck_assert_msg(memcmp(&last_msg.msg.itrf.tn, check_string, + sizeof(check_string)) == 0, + "incorrect value for last_msg.msg.itrf.tn, expected string " + "'%s', is '%s'", + check_string, last_msg.msg.itrf.tn); + } + + ck_assert_msg( + last_msg.msg.itrf.tn_counter_m == 3, + "incorrect value for last_msg.msg.itrf.tn_counter_m, expected 3, is %d", + last_msg.msg.itrf.tn_counter_m); + + ck_assert_msg( + last_msg.msg.itrf.utn == 5, + "incorrect value for last_msg.msg.itrf.utn, expected 5, is %d", + last_msg.msg.itrf.utn); + } +} +END_TEST + +Suite *auto_check_sbp_navigation_MsgItrf_suite(void) { + Suite *s = suite_create( + "SBP generated test suite: auto_check_sbp_navigation_MsgItrf"); + TCase *tc_acq = + tcase_create("Automated_Suite_auto_check_sbp_navigation_MsgItrf"); + tcase_add_test(tc_acq, test_auto_check_sbp_navigation_MsgItrf); + 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 3ea32395ab..bc6b9af02a 100644 --- a/c/test/check_main.c +++ b/c/test/check_main.c @@ -57,6 +57,7 @@ int main(void) { srunner_add_suite(sr, auto_check_sbp_navigation_MsgGPSTime_suite()); srunner_add_suite(sr, auto_check_sbp_navigation_MsgGPSTimeDepA_suite()); srunner_add_suite(sr, auto_check_sbp_navigation_MsgGPSTimeGNSS_suite()); + srunner_add_suite(sr, auto_check_sbp_navigation_MsgItrf_suite()); srunner_add_suite(sr, auto_check_sbp_navigation_MsgPosECEF_suite()); srunner_add_suite(sr, auto_check_sbp_navigation_MsgPosECEFCov_suite()); srunner_add_suite(sr, auto_check_sbp_navigation_MsgPosECEFCovGNSS_suite()); diff --git a/c/test/check_main_legacy.c b/c/test/check_main_legacy.c index 461d1dff7e..e8c4f330c4 100644 --- a/c/test/check_main_legacy.c +++ b/c/test/check_main_legacy.c @@ -71,6 +71,7 @@ int main(void) { legacy_auto_check_sbp_navigation_MsgGPSTimeDepA_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_navigation_MsgGPSTimeGNSS_suite()); + srunner_add_suite(sr, legacy_auto_check_sbp_navigation_MsgItrf_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_navigation_MsgPosECEF_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_navigation_MsgPosECEFCov_suite()); srunner_add_suite(sr, diff --git a/c/test/check_suites.h b/c/test/check_suites.h index d07ef70412..6d3bf7dc18 100644 --- a/c/test/check_suites.h +++ b/c/test/check_suites.h @@ -45,6 +45,7 @@ Suite* auto_check_sbp_navigation_MsgDopsDepA_suite(void); Suite* auto_check_sbp_navigation_MsgGPSTime_suite(void); Suite* auto_check_sbp_navigation_MsgGPSTimeDepA_suite(void); Suite* auto_check_sbp_navigation_MsgGPSTimeGNSS_suite(void); +Suite* auto_check_sbp_navigation_MsgItrf_suite(void); Suite* auto_check_sbp_navigation_MsgPosECEF_suite(void); Suite* auto_check_sbp_navigation_MsgPosECEFCov_suite(void); Suite* auto_check_sbp_navigation_MsgPosECEFCovGNSS_suite(void); diff --git a/c/test/check_suites_legacy.h b/c/test/check_suites_legacy.h index 421c8292e1..2991203bd5 100644 --- a/c/test/check_suites_legacy.h +++ b/c/test/check_suites_legacy.h @@ -46,6 +46,7 @@ Suite* legacy_auto_check_sbp_navigation_MsgDopsDepA_suite(void); Suite* legacy_auto_check_sbp_navigation_MsgGPSTime_suite(void); Suite* legacy_auto_check_sbp_navigation_MsgGPSTimeDepA_suite(void); Suite* legacy_auto_check_sbp_navigation_MsgGPSTimeGNSS_suite(void); +Suite* legacy_auto_check_sbp_navigation_MsgItrf_suite(void); Suite* legacy_auto_check_sbp_navigation_MsgPosECEF_suite(void); Suite* legacy_auto_check_sbp_navigation_MsgPosECEFCov_suite(void); Suite* legacy_auto_check_sbp_navigation_MsgPosECEFCovGNSS_suite(void); diff --git a/c/test/cpp/auto_check_sbp_navigation_MsgItrf.cc b/c/test/cpp/auto_check_sbp_navigation_MsgItrf.cc new file mode 100644 index 0000000000..93feadcdcd --- /dev/null +++ b/c/test/cpp/auto_check_sbp_navigation_MsgItrf.cc @@ -0,0 +1,220 @@ +/* + * 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/navigation/test_MsgItrf.yaml by generate.py. Do +// not modify by hand! + +#include +#include +#include +#include +#include +class Test_auto_check_sbp_navigation_MsgItrf0 + : public ::testing::Test, + public sbp::State, + public sbp::IReader, + public sbp::IWriter, + sbp::MessageHandler { + public: + Test_auto_check_sbp_navigation_MsgItrf0() + : ::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_itrf_t &msg) override { + last_msg_ = msg; + last_sender_id_ = sender_id; + n_callbacks_logged_++; + } + + sbp_msg_itrf_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_navigation_MsgItrf0, Test) { + uint8_t encoded_frame[] = { + 85, 68, 2, 66, 0, 124, 1, 2, 102, 111, 111, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 3, 98, 97, 114, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 4, 5, 0, 6, 0, 7, 0, 0, 0, 8, 0, 0, 0, 9, + 0, 0, 0, 10, 0, 0, 0, 11, 0, 0, 0, 12, 0, 0, 0, 13, 0, + 0, 0, 14, 0, 0, 0, 15, 0, 0, 0, 16, 0, 0, 0, 17, 0, 0, + 0, 18, 0, 0, 0, 19, 0, 0, 0, 20, 0, 66, 126, + }; + + sbp_msg_itrf_t test_msg{}; + test_msg.delta_X0 = 7; + test_msg.delta_Y0 = 8; + test_msg.delta_Z0 = 9; + test_msg.dot_delta_X0 = 14; + test_msg.dot_delta_Y0 = 15; + test_msg.dot_delta_Z0 = 16; + test_msg.dot_scale = 20; + test_msg.dot_theta_01 = 17; + test_msg.dot_theta_02 = 18; + test_msg.dot_theta_03 = 19; + test_msg.re_t0 = 6; + test_msg.scale = 13; + test_msg.sin = 4; + { + const char assign_string[] = { + (char)102, (char)111, (char)111, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + memcpy(test_msg.sn, assign_string, sizeof(assign_string)); + } + test_msg.sn_counter_n = 2; + test_msg.ssr_iod = 1; + test_msg.theta_01 = 10; + test_msg.theta_02 = 11; + test_msg.theta_03 = 12; + { + const char assign_string[] = { + (char)98, (char)97, (char)114, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + memcpy(test_msg.tn, assign_string, sizeof(assign_string)); + } + test_msg.tn_counter_m = 3; + test_msg.utn = 5; + + EXPECT_EQ(send_message(66, 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_, 66); + EXPECT_EQ(last_msg_, test_msg); + EXPECT_EQ(last_msg_.delta_X0, 7) + << "incorrect value for last_msg_.delta_X0, expected 7, is " + << last_msg_.delta_X0; + EXPECT_EQ(last_msg_.delta_Y0, 8) + << "incorrect value for last_msg_.delta_Y0, expected 8, is " + << last_msg_.delta_Y0; + EXPECT_EQ(last_msg_.delta_Z0, 9) + << "incorrect value for last_msg_.delta_Z0, expected 9, is " + << last_msg_.delta_Z0; + EXPECT_EQ(last_msg_.dot_delta_X0, 14) + << "incorrect value for last_msg_.dot_delta_X0, expected 14, is " + << last_msg_.dot_delta_X0; + EXPECT_EQ(last_msg_.dot_delta_Y0, 15) + << "incorrect value for last_msg_.dot_delta_Y0, expected 15, is " + << last_msg_.dot_delta_Y0; + EXPECT_EQ(last_msg_.dot_delta_Z0, 16) + << "incorrect value for last_msg_.dot_delta_Z0, expected 16, is " + << last_msg_.dot_delta_Z0; + EXPECT_EQ(last_msg_.dot_scale, 20) + << "incorrect value for last_msg_.dot_scale, expected 20, is " + << last_msg_.dot_scale; + EXPECT_EQ(last_msg_.dot_theta_01, 17) + << "incorrect value for last_msg_.dot_theta_01, expected 17, is " + << last_msg_.dot_theta_01; + EXPECT_EQ(last_msg_.dot_theta_02, 18) + << "incorrect value for last_msg_.dot_theta_02, expected 18, is " + << last_msg_.dot_theta_02; + EXPECT_EQ(last_msg_.dot_theta_03, 19) + << "incorrect value for last_msg_.dot_theta_03, expected 19, is " + << last_msg_.dot_theta_03; + EXPECT_EQ(last_msg_.re_t0, 6) + << "incorrect value for last_msg_.re_t0, expected 6, is " + << last_msg_.re_t0; + EXPECT_EQ(last_msg_.scale, 13) + << "incorrect value for last_msg_.scale, expected 13, is " + << last_msg_.scale; + EXPECT_EQ(last_msg_.sin, 4) + << "incorrect value for last_msg_.sin, expected 4, is " << last_msg_.sin; + { + const char check_string[] = { + (char)102, (char)111, (char)111, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + EXPECT_EQ(memcmp(last_msg_.sn, check_string, sizeof(check_string)), 0) + << "incorrect value for last_msg_.sn, expected string '" << check_string + << "', is '" << last_msg_.sn << "'"; + } + EXPECT_EQ(last_msg_.sn_counter_n, 2) + << "incorrect value for last_msg_.sn_counter_n, expected 2, is " + << last_msg_.sn_counter_n; + EXPECT_EQ(last_msg_.ssr_iod, 1) + << "incorrect value for last_msg_.ssr_iod, expected 1, is " + << last_msg_.ssr_iod; + EXPECT_EQ(last_msg_.theta_01, 10) + << "incorrect value for last_msg_.theta_01, expected 10, is " + << last_msg_.theta_01; + EXPECT_EQ(last_msg_.theta_02, 11) + << "incorrect value for last_msg_.theta_02, expected 11, is " + << last_msg_.theta_02; + EXPECT_EQ(last_msg_.theta_03, 12) + << "incorrect value for last_msg_.theta_03, expected 12, is " + << last_msg_.theta_03; + { + const char check_string[] = { + (char)98, (char)97, (char)114, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + EXPECT_EQ(memcmp(last_msg_.tn, check_string, sizeof(check_string)), 0) + << "incorrect value for last_msg_.tn, expected string '" << check_string + << "', is '" << last_msg_.tn << "'"; + } + EXPECT_EQ(last_msg_.tn_counter_m, 3) + << "incorrect value for last_msg_.tn_counter_m, expected 3, is " + << last_msg_.tn_counter_m; + EXPECT_EQ(last_msg_.utn, 5) + << "incorrect value for last_msg_.utn, expected 5, is " << last_msg_.utn; +} diff --git a/c/test/legacy/auto_check_sbp_navigation_MsgItrf.c b/c/test/legacy/auto_check_sbp_navigation_MsgItrf.c new file mode 100644 index 0000000000..e2e98064fd --- /dev/null +++ b/c/test/legacy/auto_check_sbp_navigation_MsgItrf.c @@ -0,0 +1,334 @@ +/* + * 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/navigation/test_MsgItrf.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_navigation_MsgItrf) { + 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, 580, &msg_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n); + sbp_frame_callback_register(&sbp_state, 580, &frame_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n2); + + u8 encoded_frame[] = { + 85, 68, 2, 66, 0, 124, 1, 2, 102, 111, 111, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 3, 98, 97, 114, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 4, 5, 0, 6, 0, 7, 0, 0, 0, 8, 0, 0, 0, 9, + 0, 0, 0, 10, 0, 0, 0, 11, 0, 0, 0, 12, 0, 0, 0, 13, 0, + 0, 0, 14, 0, 0, 0, 15, 0, 0, 0, 16, 0, 0, 0, 17, 0, 0, + 0, 18, 0, 0, 0, 19, 0, 0, 0, 20, 0, 66, 126, + }; + + 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_itrf_t *test_msg = (msg_itrf_t *)test_msg_storage; + test_msg_len = sizeof(*test_msg); + test_msg->delta_X0 = 7; + test_msg->delta_Y0 = 8; + test_msg->delta_Z0 = 9; + test_msg->dot_delta_X0 = 14; + test_msg->dot_delta_Y0 = 15; + test_msg->dot_delta_Z0 = 16; + test_msg->dot_scale = 20; + test_msg->dot_theta_01 = 17; + test_msg->dot_theta_02 = 18; + test_msg->dot_theta_03 = 19; + test_msg->re_t0 = 6; + test_msg->scale = 13; + test_msg->sin = 4; + { + const char assign_string[] = { + (char)102, (char)111, (char)111, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + memcpy(test_msg->sn, assign_string, sizeof(assign_string)); + if (sizeof(test_msg->sn) == 0) { + test_msg_len += sizeof(assign_string); + } + } + test_msg->sn_counter_n = 2; + test_msg->ssr_iod = 1; + test_msg->theta_01 = 10; + test_msg->theta_02 = 11; + test_msg->theta_03 = 12; + { + const char assign_string[] = { + (char)98, (char)97, (char)114, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + memcpy(test_msg->tn, assign_string, sizeof(assign_string)); + if (sizeof(test_msg->tn) == 0) { + test_msg_len += sizeof(assign_string); + } + } + test_msg->tn_counter_m = 3; + test_msg->utn = 5; + sbp_payload_send(&sbp_state, 580, 66, 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 == 66, + "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 == 66, + "frame_callback: sender_id decoded incorrectly"); + ck_assert_msg(last_frame.msg_type == 580, + "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_itrf_t *check_msg = (msg_itrf_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->delta_X0 == 7, + "incorrect value for delta_X0, expected 7, is %d", + check_msg->delta_X0); + ck_assert_msg(check_msg->delta_Y0 == 8, + "incorrect value for delta_Y0, expected 8, is %d", + check_msg->delta_Y0); + ck_assert_msg(check_msg->delta_Z0 == 9, + "incorrect value for delta_Z0, expected 9, is %d", + check_msg->delta_Z0); + ck_assert_msg(check_msg->dot_delta_X0 == 14, + "incorrect value for dot_delta_X0, expected 14, is %d", + check_msg->dot_delta_X0); + ck_assert_msg(check_msg->dot_delta_Y0 == 15, + "incorrect value for dot_delta_Y0, expected 15, is %d", + check_msg->dot_delta_Y0); + ck_assert_msg(check_msg->dot_delta_Z0 == 16, + "incorrect value for dot_delta_Z0, expected 16, is %d", + check_msg->dot_delta_Z0); + ck_assert_msg(check_msg->dot_scale == 20, + "incorrect value for dot_scale, expected 20, is %d", + check_msg->dot_scale); + ck_assert_msg(check_msg->dot_theta_01 == 17, + "incorrect value for dot_theta_01, expected 17, is %d", + check_msg->dot_theta_01); + ck_assert_msg(check_msg->dot_theta_02 == 18, + "incorrect value for dot_theta_02, expected 18, is %d", + check_msg->dot_theta_02); + ck_assert_msg(check_msg->dot_theta_03 == 19, + "incorrect value for dot_theta_03, expected 19, is %d", + check_msg->dot_theta_03); + ck_assert_msg(check_msg->re_t0 == 6, + "incorrect value for re_t0, expected 6, is %d", + check_msg->re_t0); + ck_assert_msg(check_msg->scale == 13, + "incorrect value for scale, expected 13, is %d", + check_msg->scale); + ck_assert_msg(check_msg->sin == 4, + "incorrect value for sin, expected 4, is %d", check_msg->sin); + { + const char check_string[] = { + (char)102, (char)111, (char)111, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + ck_assert_msg( + memcmp(check_msg->sn, check_string, sizeof(check_string)) == 0, + "incorrect value for check_msg->sn, expected string '%s', is '%s'", + check_string, check_msg->sn); + } + ck_assert_msg(check_msg->sn_counter_n == 2, + "incorrect value for sn_counter_n, expected 2, is %d", + check_msg->sn_counter_n); + ck_assert_msg(check_msg->ssr_iod == 1, + "incorrect value for ssr_iod, expected 1, is %d", + check_msg->ssr_iod); + ck_assert_msg(check_msg->theta_01 == 10, + "incorrect value for theta_01, expected 10, is %d", + check_msg->theta_01); + ck_assert_msg(check_msg->theta_02 == 11, + "incorrect value for theta_02, expected 11, is %d", + check_msg->theta_02); + ck_assert_msg(check_msg->theta_03 == 12, + "incorrect value for theta_03, expected 12, is %d", + check_msg->theta_03); + { + const char check_string[] = { + (char)98, (char)97, (char)114, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + ck_assert_msg( + memcmp(check_msg->tn, check_string, sizeof(check_string)) == 0, + "incorrect value for check_msg->tn, expected string '%s', is '%s'", + check_string, check_msg->tn); + } + ck_assert_msg(check_msg->tn_counter_m == 3, + "incorrect value for tn_counter_m, expected 3, is %d", + check_msg->tn_counter_m); + ck_assert_msg(check_msg->utn == 5, + "incorrect value for utn, expected 5, is %d", check_msg->utn); + } +} +END_TEST + +Suite *legacy_auto_check_sbp_navigation_MsgItrf_suite(void) { + Suite *s = suite_create( + "SBP generated test suite: legacy_auto_check_sbp_navigation_MsgItrf"); + TCase *tc_acq = + tcase_create("Automated_Suite_legacy_auto_check_sbp_navigation_MsgItrf"); + tcase_add_test(tc_acq, test_legacy_auto_check_sbp_navigation_MsgItrf); + suite_add_tcase(s, tc_acq); + return s; +} \ No newline at end of file diff --git a/c/test/legacy/cpp/auto_check_sbp_navigation_MsgItrf.cc b/c/test/legacy/cpp/auto_check_sbp_navigation_MsgItrf.cc new file mode 100644 index 0000000000..584d12a706 --- /dev/null +++ b/c/test/legacy/cpp/auto_check_sbp_navigation_MsgItrf.cc @@ -0,0 +1,226 @@ +/* + * 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/navigation/test_MsgItrf.yaml by generate.py. Do +// not modify by hand! + +#include +#include +#include +#include +class Test_legacy_auto_check_sbp_navigation_MsgItrf0 + : public ::testing::Test, + public sbp::State, + public sbp::IReader, + public sbp::IWriter, + sbp::PayloadHandler { + public: + Test_legacy_auto_check_sbp_navigation_MsgItrf0() + : ::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_itrf_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_itrf_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_navigation_MsgItrf0, Test) { + uint8_t encoded_frame[] = { + 85, 68, 2, 66, 0, 124, 1, 2, 102, 111, 111, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 3, 98, 97, 114, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 4, 5, 0, 6, 0, 7, 0, 0, 0, 8, 0, 0, 0, 9, + 0, 0, 0, 10, 0, 0, 0, 11, 0, 0, 0, 12, 0, 0, 0, 13, 0, + 0, 0, 14, 0, 0, 0, 15, 0, 0, 0, 16, 0, 0, 0, 17, 0, 0, + 0, 18, 0, 0, 0, 19, 0, 0, 0, 20, 0, 66, 126, + }; + + uint8_t test_msg_storage[SBP_MAX_PAYLOAD_LEN]{}; + uint8_t test_msg_len = 0; + msg_itrf_t *test_msg = (msg_itrf_t *)test_msg_storage; + test_msg_len = (uint8_t)sizeof(*test_msg); + test_msg->delta_X0 = 7; + test_msg->delta_Y0 = 8; + test_msg->delta_Z0 = 9; + test_msg->dot_delta_X0 = 14; + test_msg->dot_delta_Y0 = 15; + test_msg->dot_delta_Z0 = 16; + test_msg->dot_scale = 20; + test_msg->dot_theta_01 = 17; + test_msg->dot_theta_02 = 18; + test_msg->dot_theta_03 = 19; + test_msg->re_t0 = 6; + test_msg->scale = 13; + test_msg->sin = 4; + { + const char assign_string[] = { + (char)102, (char)111, (char)111, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + memcpy(test_msg->sn, assign_string, sizeof(assign_string)); + if (sizeof(test_msg->sn) == 0) { + test_msg_len = (uint8_t)(test_msg_len + sizeof(assign_string)); + } + } + test_msg->sn_counter_n = 2; + test_msg->ssr_iod = 1; + test_msg->theta_01 = 10; + test_msg->theta_02 = 11; + test_msg->theta_03 = 12; + { + const char assign_string[] = { + (char)98, (char)97, (char)114, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + memcpy(test_msg->tn, assign_string, sizeof(assign_string)); + if (sizeof(test_msg->tn) == 0) { + test_msg_len = (uint8_t)(test_msg_len + sizeof(assign_string)); + } + } + test_msg->tn_counter_m = 3; + test_msg->utn = 5; + + EXPECT_EQ(send_message(580, 66, 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_, 66); + EXPECT_EQ(last_msg_len_, test_msg_len); + EXPECT_EQ(last_msg_->delta_X0, 7) + << "incorrect value for delta_X0, expected 7, is " << last_msg_->delta_X0; + EXPECT_EQ(last_msg_->delta_Y0, 8) + << "incorrect value for delta_Y0, expected 8, is " << last_msg_->delta_Y0; + EXPECT_EQ(last_msg_->delta_Z0, 9) + << "incorrect value for delta_Z0, expected 9, is " << last_msg_->delta_Z0; + EXPECT_EQ(last_msg_->dot_delta_X0, 14) + << "incorrect value for dot_delta_X0, expected 14, is " + << last_msg_->dot_delta_X0; + EXPECT_EQ(last_msg_->dot_delta_Y0, 15) + << "incorrect value for dot_delta_Y0, expected 15, is " + << last_msg_->dot_delta_Y0; + EXPECT_EQ(last_msg_->dot_delta_Z0, 16) + << "incorrect value for dot_delta_Z0, expected 16, is " + << last_msg_->dot_delta_Z0; + EXPECT_EQ(last_msg_->dot_scale, 20) + << "incorrect value for dot_scale, expected 20, is " + << last_msg_->dot_scale; + EXPECT_EQ(last_msg_->dot_theta_01, 17) + << "incorrect value for dot_theta_01, expected 17, is " + << last_msg_->dot_theta_01; + EXPECT_EQ(last_msg_->dot_theta_02, 18) + << "incorrect value for dot_theta_02, expected 18, is " + << last_msg_->dot_theta_02; + EXPECT_EQ(last_msg_->dot_theta_03, 19) + << "incorrect value for dot_theta_03, expected 19, is " + << last_msg_->dot_theta_03; + EXPECT_EQ(last_msg_->re_t0, 6) + << "incorrect value for re_t0, expected 6, is " << last_msg_->re_t0; + EXPECT_EQ(last_msg_->scale, 13) + << "incorrect value for scale, expected 13, is " << last_msg_->scale; + EXPECT_EQ(last_msg_->sin, 4) + << "incorrect value for sin, expected 4, is " << last_msg_->sin; + { + const char check_string[] = { + (char)102, (char)111, (char)111, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + EXPECT_EQ(memcmp(last_msg_->sn, check_string, sizeof(check_string)), 0) + << "incorrect value for last_msg_->sn, expected string '" + << check_string << "', is '" << last_msg_->sn << "'"; + } + EXPECT_EQ(last_msg_->sn_counter_n, 2) + << "incorrect value for sn_counter_n, expected 2, is " + << last_msg_->sn_counter_n; + EXPECT_EQ(last_msg_->ssr_iod, 1) + << "incorrect value for ssr_iod, expected 1, is " << last_msg_->ssr_iod; + EXPECT_EQ(last_msg_->theta_01, 10) + << "incorrect value for theta_01, expected 10, is " + << last_msg_->theta_01; + EXPECT_EQ(last_msg_->theta_02, 11) + << "incorrect value for theta_02, expected 11, is " + << last_msg_->theta_02; + EXPECT_EQ(last_msg_->theta_03, 12) + << "incorrect value for theta_03, expected 12, is " + << last_msg_->theta_03; + { + const char check_string[] = { + (char)98, (char)97, (char)114, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, (char)0, + (char)0, (char)0, (char)0}; + EXPECT_EQ(memcmp(last_msg_->tn, check_string, sizeof(check_string)), 0) + << "incorrect value for last_msg_->tn, expected string '" + << check_string << "', is '" << last_msg_->tn << "'"; + } + EXPECT_EQ(last_msg_->tn_counter_m, 3) + << "incorrect value for tn_counter_m, expected 3, is " + << last_msg_->tn_counter_m; + EXPECT_EQ(last_msg_->utn, 5) + << "incorrect value for utn, expected 5, is " << last_msg_->utn; +} diff --git a/docs/sbp.pdf b/docs/sbp.pdf index 211429856b..2708a03b8e 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 873cebec31..ce5d145329 100644 --- a/haskell/src/SwiftNav/SBP/Msg.hs +++ b/haskell/src/SwiftNav/SBP/Msg.hs @@ -147,6 +147,7 @@ data SBPMsg = | SBPMsgInsStatus MsgInsStatus Msg | SBPMsgInsUpdates MsgInsUpdates Msg | SBPMsgIono MsgIono Msg + | SBPMsgItrf MsgItrf Msg | SBPMsgLinuxCpuState MsgLinuxCpuState Msg | SBPMsgLinuxCpuStateDepA MsgLinuxCpuStateDepA Msg | SBPMsgLinuxMemState MsgLinuxMemState Msg @@ -377,6 +378,7 @@ instance Binary SBPMsg where | _msgSBPType == msgInsStatus = SBPMsgInsStatus (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgInsUpdates = SBPMsgInsUpdates (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgIono = SBPMsgIono (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgItrf = SBPMsgItrf (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxCpuState = SBPMsgLinuxCpuState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxCpuStateDepA = SBPMsgLinuxCpuStateDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxMemState = SBPMsgLinuxMemState (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -599,6 +601,7 @@ instance Binary SBPMsg where encoder (SBPMsgInsStatus _ m) = put m encoder (SBPMsgInsUpdates _ m) = put m encoder (SBPMsgIono _ m) = put m + encoder (SBPMsgItrf _ m) = put m encoder (SBPMsgLinuxCpuState _ m) = put m encoder (SBPMsgLinuxCpuStateDepA _ m) = put m encoder (SBPMsgLinuxMemState _ m) = put m @@ -825,6 +828,7 @@ instance FromJSON SBPMsg where | msgType == msgInsStatus = SBPMsgInsStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgInsUpdates = SBPMsgInsUpdates <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgIono = SBPMsgIono <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgItrf = SBPMsgItrf <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxCpuState = SBPMsgLinuxCpuState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxCpuStateDepA = SBPMsgLinuxCpuStateDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxMemState = SBPMsgLinuxMemState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -1052,6 +1056,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgInsStatus n m) = toJSON n <<>> toJSON m toJSON (SBPMsgInsUpdates n m) = toJSON n <<>> toJSON m toJSON (SBPMsgIono n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgItrf n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxCpuState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxCpuStateDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxMemState n m) = toJSON n <<>> toJSON m @@ -1273,6 +1278,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgInsStatus n m) = SBPMsgInsStatus n <$> f m msg f (SBPMsgInsUpdates n m) = SBPMsgInsUpdates n <$> f m msg f (SBPMsgIono n m) = SBPMsgIono n <$> f m + msg f (SBPMsgItrf n m) = SBPMsgItrf n <$> f m msg f (SBPMsgLinuxCpuState n m) = SBPMsgLinuxCpuState n <$> f m msg f (SBPMsgLinuxCpuStateDepA n m) = SBPMsgLinuxCpuStateDepA n <$> f m msg f (SBPMsgLinuxMemState n m) = SBPMsgLinuxMemState n <$> f m diff --git a/haskell/src/SwiftNav/SBP/Navigation.hs b/haskell/src/SwiftNav/SBP/Navigation.hs index b32d086ed9..63b431f8fb 100644 --- a/haskell/src/SwiftNav/SBP/Navigation.hs +++ b/haskell/src/SwiftNav/SBP/Navigation.hs @@ -2303,3 +2303,108 @@ instance Binary MsgProtectionLevel where $(makeSBP 'msgProtectionLevel ''MsgProtectionLevel) $(makeJSON "_msgProtectionLevel_" ''MsgProtectionLevel) $(makeLenses ''MsgProtectionLevel) + +msgItrf :: Word16 +msgItrf = 0x0244 + +data MsgItrf = MsgItrf + { _msgItrf_ssr_iod :: !Word8 + -- ^ SSR IOD parameter. + , _msgItrf_sn_counter_n :: !Word8 + -- ^ Source-Name Counter N. + , _msgItrf_sn :: !Text + -- ^ Source-Name + , _msgItrf_tn_counter_m :: !Word8 + -- ^ Target-Name Counter M. + , _msgItrf_tn :: !Text + -- ^ Target-Name + , _msgItrf_sin :: !Word8 + -- ^ System Identification Number. + , _msgItrf_utn :: !Word16 + -- ^ Utilized Transformation Message. + , _msgItrf_re_t0 :: !Word16 + -- ^ Reference Epoch t0 for transformation parameter set given as Modified + -- Julian Day (MDJ) Number minus 44244 days. + , _msgItrf_delta_X0 :: !Int32 + -- ^ Translation in X for Reference Epoch t0. + , _msgItrf_delta_Y0 :: !Int32 + -- ^ Translation in Y for Reference Epoch t0. + , _msgItrf_delta_Z0 :: !Int32 + -- ^ Translation in Z for Reference Epoch t0. + , _msgItrf_theta_01 :: !Int32 + -- ^ Rotation around the X-axis for Reference Epoch t0. + , _msgItrf_theta_02 :: !Int32 + -- ^ Rotation around the Y-axis for Reference Epoch t0. + , _msgItrf_theta_03 :: !Int32 + -- ^ Rotation around the Z-axis for Reference Epoch t0. + , _msgItrf_scale :: !Int32 + -- ^ Scale correction for Reference Epoch t0. + , _msgItrf_dot_delta_X0 :: !Int32 + -- ^ Rate of change of translation in X. + , _msgItrf_dot_delta_Y0 :: !Int32 + -- ^ Rate of change of translation in Y. + , _msgItrf_dot_delta_Z0 :: !Int32 + -- ^ Rate of change of translation in Z. + , _msgItrf_dot_theta_01 :: !Int32 + -- ^ Rate of change of rotation around the X-axis. + , _msgItrf_dot_theta_02 :: !Int32 + -- ^ Rate of change of rotation around the Y-axis. + , _msgItrf_dot_theta_03 :: !Int32 + -- ^ Rate of change of rotation around the Z-axis. + , _msgItrf_dot_scale :: !Int16 + -- ^ Rate of change of scale correction. + } deriving ( Show, Read, Eq ) + +instance Binary MsgItrf where + get = do + _msgItrf_ssr_iod <- getWord8 + _msgItrf_sn_counter_n <- getWord8 + _msgItrf_sn <- decodeUtf8 <$> getByteString 31 + _msgItrf_tn_counter_m <- getWord8 + _msgItrf_tn <- decodeUtf8 <$> getByteString 31 + _msgItrf_sin <- getWord8 + _msgItrf_utn <- getWord16le + _msgItrf_re_t0 <- getWord16le + _msgItrf_delta_X0 <- (fromIntegral <$> getWord32le) + _msgItrf_delta_Y0 <- (fromIntegral <$> getWord32le) + _msgItrf_delta_Z0 <- (fromIntegral <$> getWord32le) + _msgItrf_theta_01 <- (fromIntegral <$> getWord32le) + _msgItrf_theta_02 <- (fromIntegral <$> getWord32le) + _msgItrf_theta_03 <- (fromIntegral <$> getWord32le) + _msgItrf_scale <- (fromIntegral <$> getWord32le) + _msgItrf_dot_delta_X0 <- (fromIntegral <$> getWord32le) + _msgItrf_dot_delta_Y0 <- (fromIntegral <$> getWord32le) + _msgItrf_dot_delta_Z0 <- (fromIntegral <$> getWord32le) + _msgItrf_dot_theta_01 <- (fromIntegral <$> getWord32le) + _msgItrf_dot_theta_02 <- (fromIntegral <$> getWord32le) + _msgItrf_dot_theta_03 <- (fromIntegral <$> getWord32le) + _msgItrf_dot_scale <- (fromIntegral <$> getWord16le) + pure MsgItrf {..} + + put MsgItrf {..} = do + putWord8 _msgItrf_ssr_iod + putWord8 _msgItrf_sn_counter_n + putByteString $ encodeUtf8 _msgItrf_sn + putWord8 _msgItrf_tn_counter_m + putByteString $ encodeUtf8 _msgItrf_tn + putWord8 _msgItrf_sin + putWord16le _msgItrf_utn + putWord16le _msgItrf_re_t0 + (putWord32le . fromIntegral) _msgItrf_delta_X0 + (putWord32le . fromIntegral) _msgItrf_delta_Y0 + (putWord32le . fromIntegral) _msgItrf_delta_Z0 + (putWord32le . fromIntegral) _msgItrf_theta_01 + (putWord32le . fromIntegral) _msgItrf_theta_02 + (putWord32le . fromIntegral) _msgItrf_theta_03 + (putWord32le . fromIntegral) _msgItrf_scale + (putWord32le . fromIntegral) _msgItrf_dot_delta_X0 + (putWord32le . fromIntegral) _msgItrf_dot_delta_Y0 + (putWord32le . fromIntegral) _msgItrf_dot_delta_Z0 + (putWord32le . fromIntegral) _msgItrf_dot_theta_01 + (putWord32le . fromIntegral) _msgItrf_dot_theta_02 + (putWord32le . fromIntegral) _msgItrf_dot_theta_03 + (putWord16le . fromIntegral) _msgItrf_dot_scale + +$(makeSBP 'msgItrf ''MsgItrf) +$(makeJSON "_msgItrf_" ''MsgItrf) +$(makeLenses ''MsgItrf) diff --git a/java/src/com/swiftnav/sbp/client/MessageTable.java b/java/src/com/swiftnav/sbp/client/MessageTable.java index c2f61d2544..398c4d3f39 100644 --- a/java/src/com/swiftnav/sbp/client/MessageTable.java +++ b/java/src/com/swiftnav/sbp/client/MessageTable.java @@ -79,6 +79,7 @@ import com.swiftnav.sbp.navigation.MsgGPSTime; import com.swiftnav.sbp.navigation.MsgGPSTimeDepA; import com.swiftnav.sbp.navigation.MsgGPSTimeGnss; +import com.swiftnav.sbp.navigation.MsgItrf; import com.swiftnav.sbp.navigation.MsgPosECEF; import com.swiftnav.sbp.navigation.MsgPosECEFCov; import com.swiftnav.sbp.navigation.MsgPosECEFCovGnss; @@ -420,6 +421,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException { return new MsgProtectionLevelDepA(msg); case MsgProtectionLevel.TYPE: return new MsgProtectionLevel(msg); + case MsgItrf.TYPE: + return new MsgItrf(msg); case MsgNdbEvent.TYPE: return new MsgNdbEvent(msg); case MsgObs.TYPE: diff --git a/java/src/com/swiftnav/sbp/navigation/MsgItrf.java b/java/src/com/swiftnav/sbp/navigation/MsgItrf.java new file mode 100644 index 0000000000..967751a54f --- /dev/null +++ b/java/src/com/swiftnav/sbp/navigation/MsgItrf.java @@ -0,0 +1,186 @@ +/* Copyright (C) 2015-2022 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.navigation; + +// This file was auto-generated from yaml/swiftnav/sbp/navigation.yaml by generate.py. +// Do not modify by hand! + + +import com.swiftnav.sbp.SBPBinaryException; +import com.swiftnav.sbp.SBPMessage; +import org.json.JSONObject; + +public class MsgItrf extends SBPMessage { + public static final int TYPE = 0x0244; + + /** SSR IOD parameter. */ + public int ssr_iod; + + /** Source-Name Counter N. */ + public int sn_counter_n; + + /** Source-Name */ + public String sn; + + /** Target-Name Counter M. */ + public int tn_counter_m; + + /** Target-Name */ + public String tn; + + /** System Identification Number. */ + public int sin; + + /** Utilized Transformation Message. */ + public int utn; + + /** + * Reference Epoch t0 for transformation parameter set given as Modified Julian Day (MDJ) Number + * minus 44244 days. + */ + public int re_t0; + + /** Translation in X for Reference Epoch t0. */ + public int delta_X0; + + /** Translation in Y for Reference Epoch t0. */ + public int delta_Y0; + + /** Translation in Z for Reference Epoch t0. */ + public int delta_Z0; + + /** Rotation around the X-axis for Reference Epoch t0. */ + public int theta_01; + + /** Rotation around the Y-axis for Reference Epoch t0. */ + public int theta_02; + + /** Rotation around the Z-axis for Reference Epoch t0. */ + public int theta_03; + + /** Scale correction for Reference Epoch t0. */ + public int scale; + + /** Rate of change of translation in X. */ + public int dot_delta_X0; + + /** Rate of change of translation in Y. */ + public int dot_delta_Y0; + + /** Rate of change of translation in Z. */ + public int dot_delta_Z0; + + /** Rate of change of rotation around the X-axis. */ + public int dot_theta_01; + + /** Rate of change of rotation around the Y-axis. */ + public int dot_theta_02; + + /** Rate of change of rotation around the Z-axis. */ + public int dot_theta_03; + + /** Rate of change of scale correction. */ + public int dot_scale; + + public MsgItrf(int sender) { + super(sender, TYPE); + } + + public MsgItrf() { + super(TYPE); + } + + public MsgItrf(SBPMessage msg) throws SBPBinaryException { + super(msg); + assert msg.type == TYPE; + } + + @Override + protected void parse(Parser parser) throws SBPBinaryException { + /* Parse fields from binary */ + ssr_iod = parser.getU8(); + sn_counter_n = parser.getU8(); + sn = parser.getString(31); + tn_counter_m = parser.getU8(); + tn = parser.getString(31); + sin = parser.getU8(); + utn = parser.getU16(); + re_t0 = parser.getU16(); + delta_X0 = parser.getS32(); + delta_Y0 = parser.getS32(); + delta_Z0 = parser.getS32(); + theta_01 = parser.getS32(); + theta_02 = parser.getS32(); + theta_03 = parser.getS32(); + scale = parser.getS32(); + dot_delta_X0 = parser.getS32(); + dot_delta_Y0 = parser.getS32(); + dot_delta_Z0 = parser.getS32(); + dot_theta_01 = parser.getS32(); + dot_theta_02 = parser.getS32(); + dot_theta_03 = parser.getS32(); + dot_scale = parser.getS16(); + } + + @Override + protected void build(Builder builder) { + builder.putU8(ssr_iod); + builder.putU8(sn_counter_n); + builder.putString(sn, 31); + builder.putU8(tn_counter_m); + builder.putString(tn, 31); + builder.putU8(sin); + builder.putU16(utn); + builder.putU16(re_t0); + builder.putS32(delta_X0); + builder.putS32(delta_Y0); + builder.putS32(delta_Z0); + builder.putS32(theta_01); + builder.putS32(theta_02); + builder.putS32(theta_03); + builder.putS32(scale); + builder.putS32(dot_delta_X0); + builder.putS32(dot_delta_Y0); + builder.putS32(dot_delta_Z0); + builder.putS32(dot_theta_01); + builder.putS32(dot_theta_02); + builder.putS32(dot_theta_03); + builder.putS16(dot_scale); + } + + @Override + public JSONObject toJSON() { + JSONObject obj = super.toJSON(); + obj.put("ssr_iod", ssr_iod); + obj.put("sn_counter_n", sn_counter_n); + obj.put("sn", sn); + obj.put("tn_counter_m", tn_counter_m); + obj.put("tn", tn); + obj.put("sin", sin); + obj.put("utn", utn); + obj.put("re_t0", re_t0); + obj.put("delta_X0", delta_X0); + obj.put("delta_Y0", delta_Y0); + obj.put("delta_Z0", delta_Z0); + obj.put("theta_01", theta_01); + obj.put("theta_02", theta_02); + obj.put("theta_03", theta_03); + obj.put("scale", scale); + obj.put("dot_delta_X0", dot_delta_X0); + obj.put("dot_delta_Y0", dot_delta_Y0); + obj.put("dot_delta_Z0", dot_delta_Z0); + obj.put("dot_theta_01", dot_theta_01); + obj.put("dot_theta_02", dot_theta_02); + obj.put("dot_theta_03", dot_theta_03); + obj.put("dot_scale", dot_scale); + return obj; + } +} diff --git a/java/test/auto_check_sbp_navigation_MsgItrfTest.java b/java/test/auto_check_sbp_navigation_MsgItrfTest.java new file mode 100644 index 0000000000..72810fc3b7 --- /dev/null +++ b/java/test/auto_check_sbp_navigation_MsgItrfTest.java @@ -0,0 +1,358 @@ +/* Copyright (C) 2015-2022 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/navigation/test_MsgItrf.yaml by +// generate.py. Do not modify by hand! + + +import com.swiftnav.sbp.SBPMessage; +import com.swiftnav.sbp.navigation.MsgItrf; +import java.math.BigInteger; +import org.json.JSONObject; +import org.junit.Test; + +public class auto_check_sbp_navigation_MsgItrfTest { + + 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_navigation_MsgItrfTest.test1"); + byte[] payload = + new byte[] { + (byte) 1, + (byte) 2, + (byte) 102, + (byte) 111, + (byte) 111, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 3, + (byte) 98, + (byte) 97, + (byte) 114, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 4, + (byte) 5, + (byte) 0, + (byte) 6, + (byte) 0, + (byte) 7, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 8, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 9, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 10, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 11, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 12, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 13, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 14, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 15, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 16, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 17, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 18, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 19, + (byte) 0, + (byte) 0, + (byte) 0, + (byte) 20, + (byte) 0, + }; + SBPMessage sbp = new SBPMessage(0x0042, 0x0244, payload); + MsgItrf msg = new MsgItrf(sbp); + JSONObject json = msg.toJSON(); + Number value; + Number expected; + value = msg.delta_X0; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.delta_X0 + "' != '" + 7 + "'", value.equals(BigInteger.valueOf(7L))); + } else { + value = value.longValue(); + expected = 7L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.delta_Y0; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.delta_Y0 + "' != '" + 8 + "'", value.equals(BigInteger.valueOf(8L))); + } else { + value = value.longValue(); + expected = 8L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.delta_Z0; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.delta_Z0 + "' != '" + 9 + "'", value.equals(BigInteger.valueOf(9L))); + } else { + value = value.longValue(); + expected = 9L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.dot_delta_X0; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.dot_delta_X0 + "' != '" + 14 + "'", + value.equals(BigInteger.valueOf(14L))); + } else { + value = value.longValue(); + expected = 14L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.dot_delta_Y0; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.dot_delta_Y0 + "' != '" + 15 + "'", + value.equals(BigInteger.valueOf(15L))); + } else { + value = value.longValue(); + expected = 15L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.dot_delta_Z0; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.dot_delta_Z0 + "' != '" + 16 + "'", + value.equals(BigInteger.valueOf(16L))); + } else { + value = value.longValue(); + expected = 16L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.dot_scale; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.dot_scale + "' != '" + 20 + "'", + value.equals(BigInteger.valueOf(20L))); + } else { + value = value.longValue(); + expected = 20L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.dot_theta_01; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.dot_theta_01 + "' != '" + 17 + "'", + value.equals(BigInteger.valueOf(17L))); + } else { + value = value.longValue(); + expected = 17L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.dot_theta_02; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.dot_theta_02 + "' != '" + 18 + "'", + value.equals(BigInteger.valueOf(18L))); + } else { + value = value.longValue(); + expected = 18L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.dot_theta_03; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.dot_theta_03 + "' != '" + 19 + "'", + value.equals(BigInteger.valueOf(19L))); + } else { + value = value.longValue(); + expected = 19L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.re_t0; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.re_t0 + "' != '" + 6 + "'", value.equals(BigInteger.valueOf(6L))); + } else { + value = value.longValue(); + expected = 6L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.scale; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.scale + "' != '" + 13 + "'", value.equals(BigInteger.valueOf(13L))); + } else { + value = value.longValue(); + expected = 13L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.sin; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.sin + "' != '" + 4 + "'", value.equals(BigInteger.valueOf(4L))); + } else { + value = value.longValue(); + expected = 4L; + org.junit.Assert.assertEquals(value, expected); + } + org.junit.Assert.assertEquals(msg.sn, "foo"); + value = msg.sn_counter_n; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.sn_counter_n + "' != '" + 2 + "'", + value.equals(BigInteger.valueOf(2L))); + } else { + value = value.longValue(); + expected = 2L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.ssr_iod; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.ssr_iod + "' != '" + 1 + "'", value.equals(BigInteger.valueOf(1L))); + } else { + value = value.longValue(); + expected = 1L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.theta_01; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.theta_01 + "' != '" + 10 + "'", + value.equals(BigInteger.valueOf(10L))); + } else { + value = value.longValue(); + expected = 10L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.theta_02; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.theta_02 + "' != '" + 11 + "'", + value.equals(BigInteger.valueOf(11L))); + } else { + value = value.longValue(); + expected = 11L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.theta_03; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.theta_03 + "' != '" + 12 + "'", + value.equals(BigInteger.valueOf(12L))); + } else { + value = value.longValue(); + expected = 12L; + org.junit.Assert.assertEquals(value, expected); + } + org.junit.Assert.assertEquals(msg.tn, "bar"); + value = msg.tn_counter_m; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.tn_counter_m + "' != '" + 3 + "'", + value.equals(BigInteger.valueOf(3L))); + } else { + value = value.longValue(); + expected = 3L; + org.junit.Assert.assertEquals(value, expected); + } + value = msg.utn; + if (value instanceof BigInteger) { + org.junit.Assert.assertTrue( + "'" + msg.utn + "' != '" + 5 + "'", value.equals(BigInteger.valueOf(5L))); + } else { + value = value.longValue(); + expected = 5L; + org.junit.Assert.assertEquals(value, expected); + } + } +} diff --git a/javascript/sbp.bundle.js b/javascript/sbp.bundle.js index 6551517ae2..13278e5afa 100644 --- a/javascript/sbp.bundle.js +++ b/javascript/sbp.bundle.js @@ -12,4 +12,4 @@ var r=p(25),o=p(26),i=p(16);function s(){return a.TYPED_ARRAY_SUPPORT?2147483647 * @author Feross Aboukhadijeh * @license MIT */ -function r(e,t){if(e===t)return 0;for(var p=e.length,r=t.length,o=0,i=Math.min(p,r);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],p,r))return!1;return!0}(e,t,p,s))}return p?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,p,r){var o;if("function"!=typeof t)throw new TypeError('"block" argument must be a function');"string"==typeof p&&(r=p,p=null),o=function(e){var t;try{e()}catch(e){t=e}return t}(t),r=(p&&p.name?" 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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 p=this._a48<<16|this._a32,r=this._a16<<16|this._a00,o=p<>>32-e,i=r<>>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 p=this._a48<<16|this._a32,r=this._a16<<16|this._a00,o=p>>>e|r<<32-e,i=r>>>e|p<<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===(r=function(){return s}.apply(t,[]))||(e.exports=r)}()},function(e,t,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,p(0).CarrierPhase,p(0).GnssSignal),s=p(0).GnssSignalDep,n=(p(0).GPSTime,p(0).GPSTimeDep,p(0).GPSTimeSec,p(0).SvId,function(e,t){return r.call(this,e),this.messageType="MSG_ACQ_RESULT",this.fields=t||this.parser.parse(e.payload),this});(n.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_ACQ_RESULT_DEP_C",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.prototype)).messageType="MSG_ACQ_RESULT_DEP_C",a.prototype.msg_type=31,a.prototype.constructor=a,a.prototype.parser=(new 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r.call(this,e),this.messageType="MSG_ACQ_RESULT_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.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 r.call(this,e),this.messageType="AcqSvProfile",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.prototype)).messageType="AcqSvProfile",u.prototype.constructor=u,u.prototype.parser=(new 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r.call(this,e),this.messageType="AcqSvProfileDep",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE_DEP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_BOOTLOADER_JUMP_TO_APP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_REQ",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_EXT_EVENT",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_FILEIO_READ_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FILEIO_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_REQ",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_RESP",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FILEIO_REMOVE",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FILEIO_WRITE_REQ",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FILEIO_WRITE_RESP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FILEIO_CONFIG_REQ",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FILEIO_CONFIG_RESP",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_FLASH_PROGRAM",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FLASH_DONE",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FLASH_READ_REQ",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FLASH_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.prototype)).messageType="MSG_FLASH_READ_RESP",a.prototype.msg_type=225,a.prototype.constructor=a,a.prototype.parser=(new 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r.call(this,e),this.messageType="MSG_STM_FLASH_LOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_STM_FLASH_UNLOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_STM_UNIQUE_ID_REQ",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_STM_UNIQUE_ID_RESP",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_M25_FLASH_WRITE_STATUS",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return 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o).endianess("little").uint8("index").uint16("pid").uint8("pmem").string("tname",{length:15}).string("cmdline",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["index","writeUInt8",1]),s.prototype.fieldSpec.push(["pid","writeUInt16LE",2]),s.prototype.fieldSpec.push(["pmem","writeUInt8",1]),s.prototype.fieldSpec.push(["tname","string",15]),s.prototype.fieldSpec.push(["cmdline","string",null]);var n=function(e,t){return r.call(this,e),this.messageType="MSG_LINUX_SYS_STATE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.prototype)).messageType="MSG_LINUX_SYS_STATE_DEP_A",n.prototype.msg_type=32514,n.prototype.constructor=n,n.prototype.parser=(new 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o).endianess("little").uint8("index").uint16("pid").uint16("socket_count").uint16("socket_types").uint16("socket_states").string("cmdline",{greedy:!0}),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["index","writeUInt8",1]),a.prototype.fieldSpec.push(["pid","writeUInt16LE",2]),a.prototype.fieldSpec.push(["socket_count","writeUInt16LE",2]),a.prototype.fieldSpec.push(["socket_types","writeUInt16LE",2]),a.prototype.fieldSpec.push(["socket_states","writeUInt16LE",2]),a.prototype.fieldSpec.push(["cmdline","string",null]);var l=function(e,t){return r.call(this,e),this.messageType="MSG_LINUX_PROCESS_SOCKET_QUEUES",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(r.prototype)).messageType="MSG_LINUX_PROCESS_SOCKET_QUEUES",l.prototype.msg_type=32516,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").uint8("index").uint16("pid").uint16("recv_queued").uint16("send_queued").uint16("socket_types").uint16("socket_states").string("address_of_largest",{length:64}).string("cmdline",{greedy:!0}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["index","writeUInt8",1]),l.prototype.fieldSpec.push(["pid","writeUInt16LE",2]),l.prototype.fieldSpec.push(["recv_queued","writeUInt16LE",2]),l.prototype.fieldSpec.push(["send_queued","writeUInt16LE",2]),l.prototype.fieldSpec.push(["socket_types","writeUInt16LE",2]),l.prototype.fieldSpec.push(["socket_states","writeUInt16LE",2]),l.prototype.fieldSpec.push(["address_of_largest","string",64]),l.prototype.fieldSpec.push(["cmdline","string",null]);var c=function(e,t){return r.call(this,e),this.messageType="MSG_LINUX_SOCKET_USAGE",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_COUNT",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_SUMMARY",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.prototype)).messageType="MSG_LINUX_PROCESS_FD_SUMMARY",y.prototype.msg_type=32519,y.prototype.constructor=y,y.prototype.parser=(new 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o).endianess("little").uint8("index").uint16("pid").uint8("pcpu").uint32("time").uint8("flags").string("tname",{length:15}).string("cmdline",{greedy:!0}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["index","writeUInt8",1]),h.prototype.fieldSpec.push(["pid","writeUInt16LE",2]),h.prototype.fieldSpec.push(["pcpu","writeUInt8",1]),h.prototype.fieldSpec.push(["time","writeUInt32LE",4]),h.prototype.fieldSpec.push(["flags","writeUInt8",1]),h.prototype.fieldSpec.push(["tname","string",15]),h.prototype.fieldSpec.push(["cmdline","string",null]);var f=function(e,t){return r.call(this,e),this.messageType="MSG_LINUX_MEM_STATE",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.prototype)).messageType="MSG_LINUX_MEM_STATE",f.prototype.msg_type=32521,f.prototype.constructor=f,f.prototype.parser=(new 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o).endianess("little").uint16("mem_total").uint8("pcpu").uint8("pmem").uint16("procs_starting").uint16("procs_stopping").uint16("pid_count").uint32("time").uint8("flags"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["mem_total","writeUInt16LE",2]),d.prototype.fieldSpec.push(["pcpu","writeUInt8",1]),d.prototype.fieldSpec.push(["pmem","writeUInt8",1]),d.prototype.fieldSpec.push(["procs_starting","writeUInt16LE",2]),d.prototype.fieldSpec.push(["procs_stopping","writeUInt16LE",2]),d.prototype.fieldSpec.push(["pid_count","writeUInt16LE",2]),d.prototype.fieldSpec.push(["time","writeUInt32LE",4]),d.prototype.fieldSpec.push(["flags","writeUInt8",1]),e.exports={32512:i,MsgLinuxCpuStateDepA:i,32513:s,MsgLinuxMemStateDepA:s,32514:n,MsgLinuxSysStateDepA:n,32515:a,MsgLinuxProcessSocketCounts:a,32516:l,MsgLinuxProcessSocketQueues:l,32517:c,MsgLinuxSocketUsage:c,32518:u,MsgLinuxProcessFdCount:u,32519:y,MsgLinuxProcessFdSummary:y,32520:h,MsgLinuxCpuState:h,32521:f,MsgLinuxMemState:f,32522:d,MsgLinuxSysState:d}},function(e,t,p){var 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v=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_QZSS",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_QZSS",v.prototype.msg_type=142,v.prototype.constructor=v,v.prototype.parser=(new 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L=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_BDS",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_BDS",L.prototype.msg_type=137,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:I,MsgEphemerisGps:I,142:v,MsgEphemerisQzss:v,137:L,MsgEphemerisBds:L,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:H,69:V,MsgObsDepA:V,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:pe,112:re,MsgAlmanacGpsDep:re,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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_BASELINE_HEADING",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_ORIENT_QUAT",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_ORIENT_EULER",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_ANGULAR_RATE",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,p(0).CarrierPhase,p(0).GnssSignal),s=p(0).GnssSignalDep,n=p(0).GPSTime,a=p(0).GPSTimeDep,l=(p(0).GPSTimeSec,p(0).SvId,function(e,t){return r.call(this,e),this.messageType="MSG_ALMANAC",this.fields=t||this.parser.parse(e.payload),this});(l.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SET_TIME",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_RESET",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_RESET_DEP",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_CW_RESULTS",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_CW_START",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_RESET_FILTERS",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_INIT_BASE_DEP",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_THREAD_STATE",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(r.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 r.call(this,e),this.messageType="UARTChannel",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(r.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 r.call(this,e),this.messageType="Period",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(r.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 r.call(this,e),this.messageType="Latency",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_UART_STATE",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_UART_STATE_DEPA",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(r.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 I=function(e,t){return r.call(this,e),this.messageType="MSG_IAR_STATE",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(r.prototype)).messageType="MSG_IAR_STATE",I.prototype.msg_type=25,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").uint32("num_hyps"),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["num_hyps","writeUInt32LE",4]);var v=function(e,t){return r.call(this,e),this.messageType="MSG_MASK_SATELLITE",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(r.prototype)).messageType="MSG_MASK_SATELLITE",v.prototype.msg_type=43,v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:i.prototype.parser}),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["mask","writeUInt8",1]),v.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]);var L=function(e,t){return r.call(this,e),this.messageType="MSG_MASK_SATELLITE_DEP",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(r.prototype)).messageType="MSG_MASK_SATELLITE_DEP",L.prototype.msg_type=27,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:s.prototype.parser}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["mask","writeUInt8",1]),L.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]);var T=function(e,t){return r.call(this,e),this.messageType="MSG_DEVICE_MONITOR",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_COMMAND_REQ",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_COMMAND_RESP",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_COMMAND_OUTPUT",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_NETWORK_STATE_REQ",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_NETWORK_STATE_RESP",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(r.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 r.call(this,e),this.messageType="NetworkUsage",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_NETWORK_BANDWIDTH_USAGE",this.fields=t||this.parser.parse(e.payload),this};(C.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_CELL_MODEM_STATUS",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SPECAN_DEP",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SPECAN",this.fields=t||this.parser.parse(e.payload),this};(N.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FRONT_END_GAIN",this.fields=t||this.parser.parse(e.payload),this};(j.prototype=Object.create(r.prototype)).messageType="MSG_FRONT_END_GAIN",j.prototype.msg_type=191,j.prototype.constructor=j,j.prototype.parser=(new 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g=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_CODE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SSR_PHASE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(r.prototype)).messageType="MSG_SSR_PHASE_BIASES",w.prototype.msg_type=1510,w.prototype.constructor=w,w.prototype.parser=(new 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r.call(this,e),this.messageType="SatelliteAPC",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(r.prototype)).messageType="SatelliteAPC",M.prototype.constructor=M,M.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"}),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),M.prototype.fieldSpec.push(["sat_info","writeUInt8",1]),M.prototype.fieldSpec.push(["svn","writeUInt16LE",2]),M.prototype.fieldSpec.push(["pco","array","writeInt16LE",function(){return 2},3]),M.prototype.fieldSpec.push(["pcv","array","writeInt8",function(){return 1},21]);var D=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_SATELLITE_APC",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(r.prototype)).messageType="MSG_SSR_SATELLITE_APC",D.prototype.msg_type=1540,D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").array("apc",{type:M.prototype.parser,readUntil:"eof"}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["apc","array",M.prototype.fieldSpec,function(){return this.fields.array.length},null]);var O=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",O.prototype.msg_type=1500,O.prototype.constructor=O,O.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"),O.prototype.fieldSpec=[],O.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),O.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),O.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),O.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),O.prototype.fieldSpec.push(["iod","writeUInt8",1]),O.prototype.fieldSpec.push(["radial","writeInt32LE",4]),O.prototype.fieldSpec.push(["along","writeInt32LE",4]),O.prototype.fieldSpec.push(["cross","writeInt32LE",4]),O.prototype.fieldSpec.push(["dot_radial","writeInt32LE",4]),O.prototype.fieldSpec.push(["dot_along","writeInt32LE",4]),O.prototype.fieldSpec.push(["dot_cross","writeInt32LE",4]),O.prototype.fieldSpec.push(["c0","writeInt32LE",4]),O.prototype.fieldSpec.push(["c1","writeInt32LE",4]),O.prototype.fieldSpec.push(["c2","writeInt32LE",4]);var G=function(e,t){return r.call(this,e),this.messageType="STECHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(r.prototype)).messageType="STECHeaderDepA",G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint8("num_msgs").uint8("seq_num").uint8("update_interval").uint8("iod_atmo"),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),G.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),G.prototype.fieldSpec.push(["seq_num","writeUInt8",1]),G.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),G.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]);var A=function(e,t){return r.call(this,e),this.messageType="GriddedCorrectionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(r.prototype)).messageType="GriddedCorrectionHeaderDepA",A.prototype.constructor=A,A.prototype.parser=(new 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r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS",this.fields=t||this.parser.parse(e.payload),this};(k.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS",k.prototype.msg_type=1502,k.prototype.constructor=k,k.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint8("n_sats").array("orbit_clock_bounds",{type:x.prototype.parser,length:"n_sats"}),k.prototype.fieldSpec=[],k.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),k.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),k.prototype.fieldSpec.push(["const_id","writeUInt8",1]),k.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),k.prototype.fieldSpec.push(["orbit_clock_bounds","array",x.prototype.fieldSpec,function(){return this.fields.array.length},"n_sats"]);var F=function(e,t){return r.call(this,e),this.messageType="CodePhaseBiasesSatSig",this.fields=t||this.parser.parse(e.payload),this};(F.prototype=Object.create(r.prototype)).messageType="CodePhaseBiasesSatSig",F.prototype.constructor=F,F.prototype.parser=(new o).endianess("little").uint8("sat_id").uint8("signal_id").uint8("code_bias_bound_mu").uint8("code_bias_bound_sig").uint8("phase_bias_bound_mu").uint8("phase_bias_bound_sig"),F.prototype.fieldSpec=[],F.prototype.fieldSpec.push(["sat_id","writeUInt8",1]),F.prototype.fieldSpec.push(["signal_id","writeUInt8",1]),F.prototype.fieldSpec.push(["code_bias_bound_mu","writeUInt8",1]),F.prototype.fieldSpec.push(["code_bias_bound_sig","writeUInt8",1]),F.prototype.fieldSpec.push(["phase_bias_bound_mu","writeUInt8",1]),F.prototype.fieldSpec.push(["phase_bias_bound_sig","writeUInt8",1]);var B=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_CODE_PHASE_BIASES_BOUNDS",this.fields=t||this.parser.parse(e.payload),this};(B.prototype=Object.create(r.prototype)).messageType="MSG_SSR_CODE_PHASE_BIASES_BOUNDS",B.prototype.msg_type=1516,B.prototype.constructor=B,B.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint8("n_sats_signals").array("satellites_signals",{type:F.prototype.parser,length:"n_sats_signals"}),B.prototype.fieldSpec=[],B.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),B.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),B.prototype.fieldSpec.push(["const_id","writeUInt8",1]),B.prototype.fieldSpec.push(["n_sats_signals","writeUInt8",1]),B.prototype.fieldSpec.push(["satellites_signals","array",F.prototype.fieldSpec,function(){return this.fields.array.length},"n_sats_signals"]);var q=function(e,t){return r.call(this,e),this.messageType="OrbitClockBoundDegradation",this.fields=t||this.parser.parse(e.payload),this};(q.prototype=Object.create(r.prototype)).messageType="OrbitClockBoundDegradation",q.prototype.constructor=q,q.prototype.parser=(new o).endianess("little").uint8("orb_radial_bound_mu_dot").uint8("orb_along_bound_mu_dot").uint8("orb_cross_bound_mu_dot").uint8("orb_radial_bound_sig_dot").uint8("orb_along_bound_sig_dot").uint8("orb_cross_bound_sig_dot").uint8("clock_bound_mu_dot").uint8("clock_bound_sig_dot"),q.prototype.fieldSpec=[],q.prototype.fieldSpec.push(["orb_radial_bound_mu_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_along_bound_mu_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_cross_bound_mu_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_radial_bound_sig_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_along_bound_sig_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_cross_bound_sig_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["clock_bound_mu_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["clock_bound_sig_dot","writeUInt8",1]);var z=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION",this.fields=t||this.parser.parse(e.payload),this};(z.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION",z.prototype.msg_type=1503,z.prototype.constructor=z,z.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint64("sat_bitmask").nest("orbit_clock_bounds_degradation",{type:q.prototype.parser}),z.prototype.fieldSpec=[],z.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),z.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),z.prototype.fieldSpec.push(["const_id","writeUInt8",1]),z.prototype.fieldSpec.push(["sat_bitmask","writeUInt64LE",8]),z.prototype.fieldSpec.push(["orbit_clock_bounds_degradation",q.prototype.fieldSpec]),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,MsgSsrStecCorrectionDep:E,BoundsHeader:m,1533:b,MsgSsrStecCorrection:b,1532:I,MsgSsrGriddedCorrection:I,STECSatElementIntegrity:v,1534:L,MsgSsrGriddedCorrectionBounds:L,1526:T,MsgSsrTileDefinitionDep:T,1527:U,MsgSsrTileDefinition:U,SatelliteAPC:M,1540:D,MsgSsrSatelliteApc:D,1500:O,MsgSsrOrbitClockDepA:O,STECHeaderDepA:G,GriddedCorrectionHeaderDepA:A,GridDefinitionHeaderDepA:C,1515:R,MsgSsrStecCorrectionDepA:R,1520:P,MsgSsrGriddedCorrectionNoStdDepA:P,1530:N,MsgSsrGriddedCorrectionDepA:N,1525:j,MsgSsrGridDefinitionDepA:j,OrbitClockBound:x,1502:k,MsgSsrOrbitClockBounds:k,CodePhaseBiasesSatSig:F,1516:B,MsgSsrCodePhaseBiasesBounds:B,OrbitClockBoundDegradation:q,1503:z,MsgSsrOrbitClockBoundsDegradation:z}},function(e,t,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_STARTUP",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_DGNSS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_HEARTBEAT",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.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 r.call(this,e),this.messageType="SubSystemReport",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_STATUS_REPORT",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(r.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 r.call(this,e),this.messageType="StatusJournalItem",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.prototype)).messageType="StatusJournalItem",c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("uptime").nest("report",{type:a.prototype.parser}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),c.prototype.fieldSpec.push(["report",a.prototype.fieldSpec]);var u=function(e,t){return r.call(this,e),this.messageType="MSG_STATUS_JOURNAL",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.prototype)).messageType="MSG_STATUS_JOURNAL",u.prototype.msg_type=65533,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint16("reporting_system").uint16("sbp_version").uint32("total_status_reports").uint8("sequence_descriptor").array("journal",{type:c.prototype.parser,readUntil:"eof"}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["reporting_system","writeUInt16LE",2]),u.prototype.fieldSpec.push(["sbp_version","writeUInt16LE",2]),u.prototype.fieldSpec.push(["total_status_reports","writeUInt32LE",4]),u.prototype.fieldSpec.push(["sequence_descriptor","writeUInt8",1]),u.prototype.fieldSpec.push(["journal","array",c.prototype.fieldSpec,function(){return this.fields.array.length},null]);var y=function(e,t){return r.call(this,e),this.messageType="MSG_INS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.prototype)).messageType="MSG_INS_STATUS",y.prototype.msg_type=65283,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").uint32("flags"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var h=function(e,t){return r.call(this,e),this.messageType="MSG_CSAC_TELEMETRY",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.prototype)).messageType="MSG_CSAC_TELEMETRY",h.prototype.msg_type=65284,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry",{greedy:!0}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["id","writeUInt8",1]),h.prototype.fieldSpec.push(["telemetry","string",null]);var f=function(e,t){return r.call(this,e),this.messageType="MSG_CSAC_TELEMETRY_LABELS",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.prototype)).messageType="MSG_CSAC_TELEMETRY_LABELS",f.prototype.msg_type=65285,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry_labels",{greedy:!0}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["id","writeUInt8",1]),f.prototype.fieldSpec.push(["telemetry_labels","string",null]);var d=function(e,t){return r.call(this,e),this.messageType="MSG_INS_UPDATES",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(r.prototype)).messageType="MSG_INS_UPDATES",d.prototype.msg_type=65286,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").uint32("tow").uint8("gnsspos").uint8("gnssvel").uint8("wheelticks").uint8("speed").uint8("nhc").uint8("zerovel"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),d.prototype.fieldSpec.push(["gnsspos","writeUInt8",1]),d.prototype.fieldSpec.push(["gnssvel","writeUInt8",1]),d.prototype.fieldSpec.push(["wheelticks","writeUInt8",1]),d.prototype.fieldSpec.push(["speed","writeUInt8",1]),d.prototype.fieldSpec.push(["nhc","writeUInt8",1]),d.prototype.fieldSpec.push(["zerovel","writeUInt8",1]);var _=function(e,t){return r.call(this,e),this.messageType="MSG_GNSS_TIME_OFFSET",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(r.prototype)).messageType="MSG_GNSS_TIME_OFFSET",_.prototype.msg_type=65287,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").int16("weeks").int32("milliseconds").int16("microseconds").uint8("flags"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["weeks","writeInt16LE",2]),_.prototype.fieldSpec.push(["milliseconds","writeInt32LE",4]),_.prototype.fieldSpec.push(["microseconds","writeInt16LE",2]),_.prototype.fieldSpec.push(["flags","writeUInt8",1]);var S=function(e,t){return r.call(this,e),this.messageType="MSG_PPS_TIME",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(r.prototype)).messageType="MSG_PPS_TIME",S.prototype.msg_type=65288,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").uint64("time").uint8("flags"),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["time","writeUInt64LE",8]),S.prototype.fieldSpec.push(["flags","writeUInt8",1]);var g=function(e,t){return r.call(this,e),this.messageType="MSG_SENSOR_AID_EVENT",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(r.prototype)).messageType="MSG_SENSOR_AID_EVENT",g.prototype.msg_type=65289,g.prototype.constructor=g,g.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"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["time","writeUInt32LE",4]),g.prototype.fieldSpec.push(["sensor_type","writeUInt8",1]),g.prototype.fieldSpec.push(["sensor_id","writeUInt16LE",2]),g.prototype.fieldSpec.push(["sensor_state","writeUInt8",1]),g.prototype.fieldSpec.push(["n_available_meas","writeUInt8",1]),g.prototype.fieldSpec.push(["n_attempted_meas","writeUInt8",1]),g.prototype.fieldSpec.push(["n_accepted_meas","writeUInt8",1]),g.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var w=function(e,t){return r.call(this,e),this.messageType="MSG_GROUP_META",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(r.prototype)).messageType="MSG_GROUP_META",w.prototype.msg_type=65290,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").uint8("group_id").uint8("flags").uint8("n_group_msgs").array("group_msgs",{type:"uint16le",length:"n_group_msgs"}),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["group_id","writeUInt8",1]),w.prototype.fieldSpec.push(["flags","writeUInt8",1]),w.prototype.fieldSpec.push(["n_group_msgs","writeUInt8",1]),w.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,StatusJournalItem:c,65533:u,MsgStatusJournal:u,65283:y,MsgInsStatus:y,65284:h,MsgCsacTelemetry:h,65285:f,MsgCsacTelemetryLabels:f,65286:d,MsgInsUpdates:d,65287:_,MsgGnssTimeOffset:_,65288:S,MsgPpsTime:S,65289:g,MsgSensorAidEvent:g,65290:w,MsgGroupMeta:w}},function(e,t,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,p(0).CarrierPhase),s=p(0).GnssSignal,n=p(0).GnssSignalDep,a=p(0).GPSTime,l=p(0).GPSTimeDep,c=(p(0).GPSTimeSec,p(0).SvId,function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",this.fields=t||this.parser.parse(e.payload),this});(c.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.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 r.call(this,e),this.messageType="TrackingChannelState",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_STATE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.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 r.call(this,e),this.messageType="MeasurementState",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_MEASUREMENT_STATE",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(r.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 r.call(this,e),this.messageType="TrackingChannelCorrelation",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_IQ",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(r.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 r.call(this,e),this.messageType="TrackingChannelCorrelationDep",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(r.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 r.call(this,e),this.messageType="TrackingChannelStateDepA",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_STATE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(r.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 I=function(e,t){return r.call(this,e),this.messageType="TrackingChannelStateDepB",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(r.prototype)).messageType="TrackingChannelStateDepB",I.prototype.constructor=I,I.prototype.parser=(new 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r.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE_DEP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.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 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H=function(e,t){return r.call(this,e),this.messageType="MSG_ITRF",this.fields=t||this.parser.parse(e.payload),this};(H.prototype=Object.create(r.prototype)).messageType="MSG_ITRF",H.prototype.msg_type=580,H.prototype.constructor=H,H.prototype.parser=(new o).endianess("little").uint8("ssr_iod").uint8("sn_counter_n").string("sn",{length:31}).uint8("tn_counter_m").string("tn",{length:31}).uint8("sin").uint16("utn").uint16("re_t0").int32("delta_X0").int32("delta_Y0").int32("delta_Z0").int32("theta_01").int32("theta_02").int32("theta_03").int32("scale").int32("dot_delta_X0").int32("dot_delta_Y0").int32("dot_delta_Z0").int32("dot_theta_01").int32("dot_theta_02").int32("dot_theta_03").int16("dot_scale"),H.prototype.fieldSpec=[],H.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),H.prototype.fieldSpec.push(["sn_counter_n","writeUInt8",1]),H.prototype.fieldSpec.push(["sn","string",31]),H.prototype.fieldSpec.push(["tn_counter_m","writeUInt8",1]),H.prototype.fieldSpec.push(["tn","string",31]),H.prototype.fieldSpec.push(["sin","writeUInt8",1]),H.prototype.fieldSpec.push(["utn","writeUInt16LE",2]),H.prototype.fieldSpec.push(["re_t0","writeUInt16LE",2]),H.prototype.fieldSpec.push(["delta_X0","writeInt32LE",4]),H.prototype.fieldSpec.push(["delta_Y0","writeInt32LE",4]),H.prototype.fieldSpec.push(["delta_Z0","writeInt32LE",4]),H.prototype.fieldSpec.push(["theta_01","writeInt32LE",4]),H.prototype.fieldSpec.push(["theta_02","writeInt32LE",4]),H.prototype.fieldSpec.push(["theta_03","writeInt32LE",4]),H.prototype.fieldSpec.push(["scale","writeInt32LE",4]),H.prototype.fieldSpec.push(["dot_delta_X0","writeInt32LE",4]),H.prototype.fieldSpec.push(["dot_delta_Y0","writeInt32LE",4]),H.prototype.fieldSpec.push(["dot_delta_Z0","writeInt32LE",4]),H.prototype.fieldSpec.push(["dot_theta_01","writeInt32LE",4]),H.prototype.fieldSpec.push(["dot_theta_02","writeInt32LE",4]),H.prototype.fieldSpec.push(["dot_theta_03","writeInt32LE",4]),H.prototype.fieldSpec.push(["dot_scale","writeInt16LE",2]),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:I,MsgPosEcefCovGnss:I,554:v,MsgPosLlhGnss:v,561:L,MsgPosLlhCovGnss:L,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,580:H,MsgItrf:H}},function(e,t,p){var 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r.call(this,e),this.messageType="ObservationHeader",this.fields=t||this.parser.parse(e.payload),this});(u.prototype=Object.create(r.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 r.call(this,e),this.messageType="Doppler",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.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 r.call(this,e),this.messageType="PackedObsContent",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.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 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r.call(this,e),this.messageType="MSG_OBS",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_BASE_POS_LLH",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(r.prototype)).messageType="MSG_BASE_POS_LLH",_.prototype.msg_type=68,_.prototype.constructor=_,_.prototype.parser=(new 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r.call(this,e),this.messageType="MSG_OSR",this.fields=t||this.parser.parse(e.payload),this};(ce.prototype=Object.create(r.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:I,MsgEphemerisGps:I,142:v,MsgEphemerisQzss:v,137:L,MsgEphemerisBds:L,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:H,69:V,MsgObsDepA:V,67:Y,MsgObsDepB:Y,73:W,MsgObsDepC:W,144:Q,MsgIono:Q,145:K,MsgSvConfigurationGpsDep:K,GnssCapb:X,150:J,MsgGnssCapb:J,146:Z,MsgGroupDelayDepA:Z,147:$,MsgGroupDelayDepB:$,148:ee,MsgGroupDelay:ee,AlmanacCommonContent:te,AlmanacCommonContentDep:pe,112:re,MsgAlmanacGpsDep:re,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,p){var 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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 r.call(this,e),this.messageType="MSG_ORIENT_EULER",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_ANGULAR_RATE",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,p(0).CarrierPhase,p(0).GnssSignal),s=p(0).GnssSignalDep,n=p(0).GPSTime,a=p(0).GPSTimeDep,l=(p(0).GPSTimeSec,p(0).SvId,function(e,t){return r.call(this,e),this.messageType="MSG_ALMANAC",this.fields=t||this.parser.parse(e.payload),this});(l.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SET_TIME",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_RESET",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_RESET_DEP",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_CW_RESULTS",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_CW_START",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_RESET_FILTERS",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_INIT_BASE_DEP",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_THREAD_STATE",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(r.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 r.call(this,e),this.messageType="UARTChannel",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(r.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 r.call(this,e),this.messageType="Period",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(r.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 r.call(this,e),this.messageType="Latency",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_UART_STATE",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_UART_STATE_DEPA",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(r.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 I=function(e,t){return r.call(this,e),this.messageType="MSG_IAR_STATE",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(r.prototype)).messageType="MSG_IAR_STATE",I.prototype.msg_type=25,I.prototype.constructor=I,I.prototype.parser=(new 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r.call(this,e),this.messageType="MSG_COMMAND_REQ",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_COMMAND_RESP",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_COMMAND_OUTPUT",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_NETWORK_STATE_REQ",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_NETWORK_STATE_RESP",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(r.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 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R=function(e,t){return r.call(this,e),this.messageType="MSG_CELL_MODEM_STATUS",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SPECAN_DEP",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SPECAN",this.fields=t||this.parser.parse(e.payload),this};(N.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_FRONT_END_GAIN",this.fields=t||this.parser.parse(e.payload),this};(j.prototype=Object.create(r.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:I,MsgIarState:I,43:v,MsgMaskSatellite:v,27:L,MsgMaskSatelliteDep:L,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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,p(0).CarrierPhase,p(0).GnssSignal),s=(p(0).GnssSignalDep,p(0).GPSTime,p(0).GPSTimeDep,p(0).GPSTimeSec,p(0).SvId,function(e,t){return r.call(this,e),this.messageType="MSG_SBAS_RAW",this.fields=t||this.parser.parse(e.payload),this});(s.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_SETTINGS_SAVE",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SETTINGS_WRITE",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SETTINGS_WRITE_RESP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.prototype)).messageType="MSG_SETTINGS_WRITE_RESP",n.prototype.msg_type=175,n.prototype.constructor=n,n.prototype.parser=(new 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o).endianess("little").string("setting",{greedy:!0}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["setting","string",null]);var c=function(e,t){return r.call(this,e),this.messageType="MSG_SETTINGS_READ_BY_INDEX_REQ",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_SETTINGS_READ_BY_INDEX_RESP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.prototype)).messageType="MSG_SETTINGS_READ_BY_INDEX_RESP",u.prototype.msg_type=167,u.prototype.constructor=u,u.prototype.parser=(new 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r.call(this,e),this.messageType="MSG_SETTINGS_REGISTER_RESP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return 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r.call(this,e),this.messageType="GNSSInputType",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.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 r.call(this,e),this.messageType="IMUInputType",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(r.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 r.call(this,e),this.messageType="OdoInputType",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.prototype)).messageType="OdoInputType",c.prototype.constructor=c,c.prototype.parser=(new 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g=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_CODE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(r.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 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o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod_atmo").uint16("tile_set_id").uint16("tile_id").uint8("tropo_qi").uint16("grid_point_id").nest("tropo_delay_correction",{type:f.prototype.parser}).uint8("tropo_bound_mu").uint8("tropo_bound_sig").uint8("n_sats").array("stec_sat_list",{type:v.prototype.parser,length:"n_sats"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),L.prototype.fieldSpec.push(["ssr_iod_atmo","writeUInt8",1]),L.prototype.fieldSpec.push(["tile_set_id","writeUInt16LE",2]),L.prototype.fieldSpec.push(["tile_id","writeUInt16LE",2]),L.prototype.fieldSpec.push(["tropo_qi","writeUInt8",1]),L.prototype.fieldSpec.push(["grid_point_id","writeUInt16LE",2]),L.prototype.fieldSpec.push(["tropo_delay_correction",f.prototype.fieldSpec]),L.prototype.fieldSpec.push(["tropo_bound_mu","writeUInt8",1]),L.prototype.fieldSpec.push(["tropo_bound_sig","writeUInt8",1]),L.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),L.prototype.fieldSpec.push(["stec_sat_list","array",v.prototype.fieldSpec,function(){return this.fields.array.length},"n_sats"]);var T=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_TILE_DEFINITION_DEP",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(r.prototype)).messageType="MSG_SSR_TILE_DEFINITION_DEP",T.prototype.msg_type=1526,T.prototype.constructor=T,T.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"),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["tile_set_id","writeUInt16LE",2]),T.prototype.fieldSpec.push(["tile_id","writeUInt16LE",2]),T.prototype.fieldSpec.push(["corner_nw_lat","writeInt16LE",2]),T.prototype.fieldSpec.push(["corner_nw_lon","writeInt16LE",2]),T.prototype.fieldSpec.push(["spacing_lat","writeUInt16LE",2]),T.prototype.fieldSpec.push(["spacing_lon","writeUInt16LE",2]),T.prototype.fieldSpec.push(["rows","writeUInt16LE",2]),T.prototype.fieldSpec.push(["cols","writeUInt16LE",2]),T.prototype.fieldSpec.push(["bitmask","writeUInt64LE",8]);var U=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_TILE_DEFINITION",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(r.prototype)).messageType="MSG_SSR_TILE_DEFINITION",U.prototype.msg_type=1527,U.prototype.constructor=U,U.prototype.parser=(new o).endianess("little").uint8("ssr_sol_id").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"),U.prototype.fieldSpec=[],U.prototype.fieldSpec.push(["ssr_sol_id","writeUInt8",1]),U.prototype.fieldSpec.push(["tile_set_id","writeUInt16LE",2]),U.prototype.fieldSpec.push(["tile_id","writeUInt16LE",2]),U.prototype.fieldSpec.push(["corner_nw_lat","writeInt16LE",2]),U.prototype.fieldSpec.push(["corner_nw_lon","writeInt16LE",2]),U.prototype.fieldSpec.push(["spacing_lat","writeUInt16LE",2]),U.prototype.fieldSpec.push(["spacing_lon","writeUInt16LE",2]),U.prototype.fieldSpec.push(["rows","writeUInt16LE",2]),U.prototype.fieldSpec.push(["cols","writeUInt16LE",2]),U.prototype.fieldSpec.push(["bitmask","writeUInt64LE",8]);var M=function(e,t){return r.call(this,e),this.messageType="SatelliteAPC",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(r.prototype)).messageType="SatelliteAPC",M.prototype.constructor=M,M.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"}),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),M.prototype.fieldSpec.push(["sat_info","writeUInt8",1]),M.prototype.fieldSpec.push(["svn","writeUInt16LE",2]),M.prototype.fieldSpec.push(["pco","array","writeInt16LE",function(){return 2},3]),M.prototype.fieldSpec.push(["pcv","array","writeInt8",function(){return 1},21]);var D=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_SATELLITE_APC",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(r.prototype)).messageType="MSG_SSR_SATELLITE_APC",D.prototype.msg_type=1540,D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").array("apc",{type:M.prototype.parser,readUntil:"eof"}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["apc","array",M.prototype.fieldSpec,function(){return this.fields.array.length},null]);var O=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",O.prototype.msg_type=1500,O.prototype.constructor=O,O.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"),O.prototype.fieldSpec=[],O.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),O.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),O.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),O.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),O.prototype.fieldSpec.push(["iod","writeUInt8",1]),O.prototype.fieldSpec.push(["radial","writeInt32LE",4]),O.prototype.fieldSpec.push(["along","writeInt32LE",4]),O.prototype.fieldSpec.push(["cross","writeInt32LE",4]),O.prototype.fieldSpec.push(["dot_radial","writeInt32LE",4]),O.prototype.fieldSpec.push(["dot_along","writeInt32LE",4]),O.prototype.fieldSpec.push(["dot_cross","writeInt32LE",4]),O.prototype.fieldSpec.push(["c0","writeInt32LE",4]),O.prototype.fieldSpec.push(["c1","writeInt32LE",4]),O.prototype.fieldSpec.push(["c2","writeInt32LE",4]);var G=function(e,t){return r.call(this,e),this.messageType="STECHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(r.prototype)).messageType="STECHeaderDepA",G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint8("num_msgs").uint8("seq_num").uint8("update_interval").uint8("iod_atmo"),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),G.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),G.prototype.fieldSpec.push(["seq_num","writeUInt8",1]),G.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),G.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]);var A=function(e,t){return r.call(this,e),this.messageType="GriddedCorrectionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(r.prototype)).messageType="GriddedCorrectionHeaderDepA",A.prototype.constructor=A,A.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"),A.prototype.fieldSpec=[],A.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),A.prototype.fieldSpec.push(["num_msgs","writeUInt16LE",2]),A.prototype.fieldSpec.push(["seq_num","writeUInt16LE",2]),A.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),A.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]),A.prototype.fieldSpec.push(["tropo_quality_indicator","writeUInt8",1]);var C=function(e,t){return r.call(this,e),this.messageType="GridDefinitionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(C.prototype=Object.create(r.prototype)).messageType="GridDefinitionHeaderDepA",C.prototype.constructor=C,C.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"),C.prototype.fieldSpec=[],C.prototype.fieldSpec.push(["region_size_inverse","writeUInt8",1]),C.prototype.fieldSpec.push(["area_width","writeUInt16LE",2]),C.prototype.fieldSpec.push(["lat_nw_corner_enc","writeUInt16LE",2]),C.prototype.fieldSpec.push(["lon_nw_corner_enc","writeUInt16LE",2]),C.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),C.prototype.fieldSpec.push(["seq_num","writeUInt8",1]);var R=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(r.prototype)).messageType="MSG_SSR_STEC_CORRECTION_DEP_A",R.prototype.msg_type=1515,R.prototype.constructor=R,R.prototype.parser=(new o).endianess("little").nest("header",{type:G.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),R.prototype.fieldSpec=[],R.prototype.fieldSpec.push(["header",G.prototype.fieldSpec]),R.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var P=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(r.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A",P.prototype.msg_type=1520,P.prototype.constructor=P,P.prototype.parser=(new o).endianess("little").nest("header",{type:A.prototype.parser}).uint16("index").nest("tropo_delay_correction",{type:h.prototype.parser}).array("stec_residuals",{type:d.prototype.parser,readUntil:"eof"}),P.prototype.fieldSpec=[],P.prototype.fieldSpec.push(["header",A.prototype.fieldSpec]),P.prototype.fieldSpec.push(["index","writeUInt16LE",2]),P.prototype.fieldSpec.push(["tropo_delay_correction",h.prototype.fieldSpec]),P.prototype.fieldSpec.push(["stec_residuals","array",d.prototype.fieldSpec,function(){return this.fields.array.length},null]);var N=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(N.prototype=Object.create(r.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_DEP_A",N.prototype.msg_type=1530,N.prototype.constructor=N,N.prototype.parser=(new o).endianess("little").nest("header",{type:A.prototype.parser}).uint16("index").nest("tropo_delay_correction",{type:f.prototype.parser}).array("stec_residuals",{type:_.prototype.parser,readUntil:"eof"}),N.prototype.fieldSpec=[],N.prototype.fieldSpec.push(["header",A.prototype.fieldSpec]),N.prototype.fieldSpec.push(["index","writeUInt16LE",2]),N.prototype.fieldSpec.push(["tropo_delay_correction",f.prototype.fieldSpec]),N.prototype.fieldSpec.push(["stec_residuals","array",_.prototype.fieldSpec,function(){return this.fields.array.length},null]);var j=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(j.prototype=Object.create(r.prototype)).messageType="MSG_SSR_GRID_DEFINITION_DEP_A",j.prototype.msg_type=1525,j.prototype.constructor=j,j.prototype.parser=(new o).endianess("little").nest("header",{type:C.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),j.prototype.fieldSpec=[],j.prototype.fieldSpec.push(["header",C.prototype.fieldSpec]),j.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]);var x=function(e,t){return r.call(this,e),this.messageType="OrbitClockBound",this.fields=t||this.parser.parse(e.payload),this};(x.prototype=Object.create(r.prototype)).messageType="OrbitClockBound",x.prototype.constructor=x,x.prototype.parser=(new o).endianess("little").uint8("sat_id").uint8("orb_radial_bound_mu").uint8("orb_along_bound_mu").uint8("orb_cross_bound_mu").uint8("orb_radial_bound_sig").uint8("orb_along_bound_sig").uint8("orb_cross_bound_sig").uint8("clock_bound_mu").uint8("clock_bound_sig"),x.prototype.fieldSpec=[],x.prototype.fieldSpec.push(["sat_id","writeUInt8",1]),x.prototype.fieldSpec.push(["orb_radial_bound_mu","writeUInt8",1]),x.prototype.fieldSpec.push(["orb_along_bound_mu","writeUInt8",1]),x.prototype.fieldSpec.push(["orb_cross_bound_mu","writeUInt8",1]),x.prototype.fieldSpec.push(["orb_radial_bound_sig","writeUInt8",1]),x.prototype.fieldSpec.push(["orb_along_bound_sig","writeUInt8",1]),x.prototype.fieldSpec.push(["orb_cross_bound_sig","writeUInt8",1]),x.prototype.fieldSpec.push(["clock_bound_mu","writeUInt8",1]),x.prototype.fieldSpec.push(["clock_bound_sig","writeUInt8",1]);var k=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS",this.fields=t||this.parser.parse(e.payload),this};(k.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS",k.prototype.msg_type=1502,k.prototype.constructor=k,k.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint8("n_sats").array("orbit_clock_bounds",{type:x.prototype.parser,length:"n_sats"}),k.prototype.fieldSpec=[],k.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),k.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),k.prototype.fieldSpec.push(["const_id","writeUInt8",1]),k.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),k.prototype.fieldSpec.push(["orbit_clock_bounds","array",x.prototype.fieldSpec,function(){return this.fields.array.length},"n_sats"]);var F=function(e,t){return r.call(this,e),this.messageType="CodePhaseBiasesSatSig",this.fields=t||this.parser.parse(e.payload),this};(F.prototype=Object.create(r.prototype)).messageType="CodePhaseBiasesSatSig",F.prototype.constructor=F,F.prototype.parser=(new o).endianess("little").uint8("sat_id").uint8("signal_id").uint8("code_bias_bound_mu").uint8("code_bias_bound_sig").uint8("phase_bias_bound_mu").uint8("phase_bias_bound_sig"),F.prototype.fieldSpec=[],F.prototype.fieldSpec.push(["sat_id","writeUInt8",1]),F.prototype.fieldSpec.push(["signal_id","writeUInt8",1]),F.prototype.fieldSpec.push(["code_bias_bound_mu","writeUInt8",1]),F.prototype.fieldSpec.push(["code_bias_bound_sig","writeUInt8",1]),F.prototype.fieldSpec.push(["phase_bias_bound_mu","writeUInt8",1]),F.prototype.fieldSpec.push(["phase_bias_bound_sig","writeUInt8",1]);var B=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_CODE_PHASE_BIASES_BOUNDS",this.fields=t||this.parser.parse(e.payload),this};(B.prototype=Object.create(r.prototype)).messageType="MSG_SSR_CODE_PHASE_BIASES_BOUNDS",B.prototype.msg_type=1516,B.prototype.constructor=B,B.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint8("n_sats_signals").array("satellites_signals",{type:F.prototype.parser,length:"n_sats_signals"}),B.prototype.fieldSpec=[],B.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),B.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),B.prototype.fieldSpec.push(["const_id","writeUInt8",1]),B.prototype.fieldSpec.push(["n_sats_signals","writeUInt8",1]),B.prototype.fieldSpec.push(["satellites_signals","array",F.prototype.fieldSpec,function(){return this.fields.array.length},"n_sats_signals"]);var q=function(e,t){return r.call(this,e),this.messageType="OrbitClockBoundDegradation",this.fields=t||this.parser.parse(e.payload),this};(q.prototype=Object.create(r.prototype)).messageType="OrbitClockBoundDegradation",q.prototype.constructor=q,q.prototype.parser=(new o).endianess("little").uint8("orb_radial_bound_mu_dot").uint8("orb_along_bound_mu_dot").uint8("orb_cross_bound_mu_dot").uint8("orb_radial_bound_sig_dot").uint8("orb_along_bound_sig_dot").uint8("orb_cross_bound_sig_dot").uint8("clock_bound_mu_dot").uint8("clock_bound_sig_dot"),q.prototype.fieldSpec=[],q.prototype.fieldSpec.push(["orb_radial_bound_mu_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_along_bound_mu_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_cross_bound_mu_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_radial_bound_sig_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_along_bound_sig_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["orb_cross_bound_sig_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["clock_bound_mu_dot","writeUInt8",1]),q.prototype.fieldSpec.push(["clock_bound_sig_dot","writeUInt8",1]);var z=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION",this.fields=t||this.parser.parse(e.payload),this};(z.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION",z.prototype.msg_type=1503,z.prototype.constructor=z,z.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint64("sat_bitmask").nest("orbit_clock_bounds_degradation",{type:q.prototype.parser}),z.prototype.fieldSpec=[],z.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),z.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),z.prototype.fieldSpec.push(["const_id","writeUInt8",1]),z.prototype.fieldSpec.push(["sat_bitmask","writeUInt64LE",8]),z.prototype.fieldSpec.push(["orbit_clock_bounds_degradation",q.prototype.fieldSpec]),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,MsgSsrStecCorrectionDep:E,BoundsHeader:m,1533:b,MsgSsrStecCorrection:b,1532:I,MsgSsrGriddedCorrection:I,STECSatElementIntegrity:v,1534:L,MsgSsrGriddedCorrectionBounds:L,1526:T,MsgSsrTileDefinitionDep:T,1527:U,MsgSsrTileDefinition:U,SatelliteAPC:M,1540:D,MsgSsrSatelliteApc:D,1500:O,MsgSsrOrbitClockDepA:O,STECHeaderDepA:G,GriddedCorrectionHeaderDepA:A,GridDefinitionHeaderDepA:C,1515:R,MsgSsrStecCorrectionDepA:R,1520:P,MsgSsrGriddedCorrectionNoStdDepA:P,1530:N,MsgSsrGriddedCorrectionDepA:N,1525:j,MsgSsrGridDefinitionDepA:j,OrbitClockBound:x,1502:k,MsgSsrOrbitClockBounds:k,CodePhaseBiasesSatSig:F,1516:B,MsgSsrCodePhaseBiasesBounds:B,OrbitClockBoundDegradation:q,1503:z,MsgSsrOrbitClockBoundsDegradation:z}},function(e,t,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_STARTUP",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_DGNSS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_HEARTBEAT",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.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 r.call(this,e),this.messageType="SubSystemReport",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_STATUS_REPORT",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(r.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 r.call(this,e),this.messageType="StatusJournalItem",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.prototype)).messageType="StatusJournalItem",c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("uptime").nest("report",{type:a.prototype.parser}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),c.prototype.fieldSpec.push(["report",a.prototype.fieldSpec]);var u=function(e,t){return r.call(this,e),this.messageType="MSG_STATUS_JOURNAL",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.prototype)).messageType="MSG_STATUS_JOURNAL",u.prototype.msg_type=65533,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint16("reporting_system").uint16("sbp_version").uint32("total_status_reports").uint8("sequence_descriptor").array("journal",{type:c.prototype.parser,readUntil:"eof"}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["reporting_system","writeUInt16LE",2]),u.prototype.fieldSpec.push(["sbp_version","writeUInt16LE",2]),u.prototype.fieldSpec.push(["total_status_reports","writeUInt32LE",4]),u.prototype.fieldSpec.push(["sequence_descriptor","writeUInt8",1]),u.prototype.fieldSpec.push(["journal","array",c.prototype.fieldSpec,function(){return this.fields.array.length},null]);var y=function(e,t){return r.call(this,e),this.messageType="MSG_INS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.prototype)).messageType="MSG_INS_STATUS",y.prototype.msg_type=65283,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").uint32("flags"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var h=function(e,t){return r.call(this,e),this.messageType="MSG_CSAC_TELEMETRY",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.prototype)).messageType="MSG_CSAC_TELEMETRY",h.prototype.msg_type=65284,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry",{greedy:!0}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["id","writeUInt8",1]),h.prototype.fieldSpec.push(["telemetry","string",null]);var f=function(e,t){return r.call(this,e),this.messageType="MSG_CSAC_TELEMETRY_LABELS",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.prototype)).messageType="MSG_CSAC_TELEMETRY_LABELS",f.prototype.msg_type=65285,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry_labels",{greedy:!0}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["id","writeUInt8",1]),f.prototype.fieldSpec.push(["telemetry_labels","string",null]);var d=function(e,t){return r.call(this,e),this.messageType="MSG_INS_UPDATES",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(r.prototype)).messageType="MSG_INS_UPDATES",d.prototype.msg_type=65286,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").uint32("tow").uint8("gnsspos").uint8("gnssvel").uint8("wheelticks").uint8("speed").uint8("nhc").uint8("zerovel"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),d.prototype.fieldSpec.push(["gnsspos","writeUInt8",1]),d.prototype.fieldSpec.push(["gnssvel","writeUInt8",1]),d.prototype.fieldSpec.push(["wheelticks","writeUInt8",1]),d.prototype.fieldSpec.push(["speed","writeUInt8",1]),d.prototype.fieldSpec.push(["nhc","writeUInt8",1]),d.prototype.fieldSpec.push(["zerovel","writeUInt8",1]);var _=function(e,t){return r.call(this,e),this.messageType="MSG_GNSS_TIME_OFFSET",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(r.prototype)).messageType="MSG_GNSS_TIME_OFFSET",_.prototype.msg_type=65287,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").int16("weeks").int32("milliseconds").int16("microseconds").uint8("flags"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["weeks","writeInt16LE",2]),_.prototype.fieldSpec.push(["milliseconds","writeInt32LE",4]),_.prototype.fieldSpec.push(["microseconds","writeInt16LE",2]),_.prototype.fieldSpec.push(["flags","writeUInt8",1]);var S=function(e,t){return r.call(this,e),this.messageType="MSG_PPS_TIME",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(r.prototype)).messageType="MSG_PPS_TIME",S.prototype.msg_type=65288,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").uint64("time").uint8("flags"),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["time","writeUInt64LE",8]),S.prototype.fieldSpec.push(["flags","writeUInt8",1]);var g=function(e,t){return r.call(this,e),this.messageType="MSG_SENSOR_AID_EVENT",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(r.prototype)).messageType="MSG_SENSOR_AID_EVENT",g.prototype.msg_type=65289,g.prototype.constructor=g,g.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"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["time","writeUInt32LE",4]),g.prototype.fieldSpec.push(["sensor_type","writeUInt8",1]),g.prototype.fieldSpec.push(["sensor_id","writeUInt16LE",2]),g.prototype.fieldSpec.push(["sensor_state","writeUInt8",1]),g.prototype.fieldSpec.push(["n_available_meas","writeUInt8",1]),g.prototype.fieldSpec.push(["n_attempted_meas","writeUInt8",1]),g.prototype.fieldSpec.push(["n_accepted_meas","writeUInt8",1]),g.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var w=function(e,t){return r.call(this,e),this.messageType="MSG_GROUP_META",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(r.prototype)).messageType="MSG_GROUP_META",w.prototype.msg_type=65290,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").uint8("group_id").uint8("flags").uint8("n_group_msgs").array("group_msgs",{type:"uint16le",length:"n_group_msgs"}),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["group_id","writeUInt8",1]),w.prototype.fieldSpec.push(["flags","writeUInt8",1]),w.prototype.fieldSpec.push(["n_group_msgs","writeUInt8",1]),w.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,StatusJournalItem:c,65533:u,MsgStatusJournal:u,65283:y,MsgInsStatus:y,65284:h,MsgCsacTelemetry:h,65285:f,MsgCsacTelemetryLabels:f,65286:d,MsgInsUpdates:d,65287:_,MsgGnssTimeOffset:_,65288:S,MsgPpsTime:S,65289:g,MsgSensorAidEvent:g,65290:w,MsgGroupMeta:w}},function(e,t,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,p(0).CarrierPhase),s=p(0).GnssSignal,n=p(0).GnssSignalDep,a=p(0).GPSTime,l=p(0).GPSTimeDep,c=(p(0).GPSTimeSec,p(0).SvId,function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",this.fields=t||this.parser.parse(e.payload),this});(c.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",c.prototype.msg_type=33,c.prototype.constructor=c,c.prototype.parser=(new 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u=function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.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 r.call(this,e),this.messageType="TrackingChannelState",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_STATE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.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 r.call(this,e),this.messageType="MeasurementState",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_MEASUREMENT_STATE",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(r.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 r.call(this,e),this.messageType="TrackingChannelCorrelation",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_IQ",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(r.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 r.call(this,e),this.messageType="TrackingChannelCorrelationDep",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(r.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 r.call(this,e),this.messageType="TrackingChannelStateDepA",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_TRACKING_STATE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(r.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 I=function(e,t){return r.call(this,e),this.messageType="TrackingChannelStateDepB",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(r.prototype)).messageType="TrackingChannelStateDepB",I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").uint8("state").nest("sid",{type:n.prototype.parser}).floatle("cn0"),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["state","writeUInt8",1]),I.prototype.fieldSpec.push(["sid",n.prototype.fieldSpec]),I.prototype.fieldSpec.push(["cn0","writeFloatLE",4]);var v=function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_STATE_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_STATE_DEP_B",v.prototype.msg_type=19,v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").array("states",{type:I.prototype.parser,readUntil:"eof"}),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["states","array",I.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:I,19:v,MsgTrackingStateDepB:v}},function(e,t,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_USER_DATA",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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,p){var r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_ODOMETRY",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.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 r.call(this,e),this.messageType="MSG_WHEELTICK",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.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/navigation.js b/javascript/sbp/navigation.js index 31df4792a9..1f4ece4414 100644 --- a/javascript/sbp/navigation.js +++ b/javascript/sbp/navigation.js @@ -2132,6 +2132,96 @@ MsgProtectionLevel.prototype.fieldSpec.push(['pitch', 'writeInt32LE', 4]); MsgProtectionLevel.prototype.fieldSpec.push(['heading', 'writeInt32LE', 4]); MsgProtectionLevel.prototype.fieldSpec.push(['flags', 'writeUInt32LE', 4]); +/** + * SBP class for message MSG_ITRF (0x0244). + * + + * Fields in the SBP payload (`sbp.payload`): + * @field ssr_iod number (unsigned 8-bit int, 1 byte) SSR IOD parameter. + * @field sn_counter_n number (unsigned 8-bit int, 1 byte) Source-Name Counter N. + * @field sn string Source-Name + * @field tn_counter_m number (unsigned 8-bit int, 1 byte) Target-Name Counter M. + * @field tn string Target-Name + * @field sin number (unsigned 8-bit int, 1 byte) System Identification Number. + * @field utn number (unsigned 16-bit int, 2 bytes) Utilized Transformation Message. + * @field re_t0 number (unsigned 16-bit int, 2 bytes) Reference Epoch t0 for transformation parameter set given as Modified Julian Day + * (MDJ) Number minus 44244 days. + * @field delta_X0 number (signed 32-bit int, 4 bytes) Translation in X for Reference Epoch t0. + * @field delta_Y0 number (signed 32-bit int, 4 bytes) Translation in Y for Reference Epoch t0. + * @field delta_Z0 number (signed 32-bit int, 4 bytes) Translation in Z for Reference Epoch t0. + * @field theta_01 number (signed 32-bit int, 4 bytes) Rotation around the X-axis for Reference Epoch t0. + * @field theta_02 number (signed 32-bit int, 4 bytes) Rotation around the Y-axis for Reference Epoch t0. + * @field theta_03 number (signed 32-bit int, 4 bytes) Rotation around the Z-axis for Reference Epoch t0. + * @field scale number (signed 32-bit int, 4 bytes) Scale correction for Reference Epoch t0. + * @field dot_delta_X0 number (signed 32-bit int, 4 bytes) Rate of change of translation in X. + * @field dot_delta_Y0 number (signed 32-bit int, 4 bytes) Rate of change of translation in Y. + * @field dot_delta_Z0 number (signed 32-bit int, 4 bytes) Rate of change of translation in Z. + * @field dot_theta_01 number (signed 32-bit int, 4 bytes) Rate of change of rotation around the X-axis. + * @field dot_theta_02 number (signed 32-bit int, 4 bytes) Rate of change of rotation around the Y-axis. + * @field dot_theta_03 number (signed 32-bit int, 4 bytes) Rate of change of rotation around the Z-axis. + * @field dot_scale number (signed 16-bit int, 2 bytes) Rate of change of scale correction. + * + * @param sbp An SBP object with a payload to be decoded. + */ +var MsgItrf = function (sbp, fields) { + SBP.call(this, sbp); + this.messageType = "MSG_ITRF"; + this.fields = (fields || this.parser.parse(sbp.payload)); + + return this; +}; +MsgItrf.prototype = Object.create(SBP.prototype); +MsgItrf.prototype.messageType = "MSG_ITRF"; +MsgItrf.prototype.msg_type = 0x0244; +MsgItrf.prototype.constructor = MsgItrf; +MsgItrf.prototype.parser = new Parser() + .endianess('little') + .uint8('ssr_iod') + .uint8('sn_counter_n') + .string('sn', { length: 31 }) + .uint8('tn_counter_m') + .string('tn', { length: 31 }) + .uint8('sin') + .uint16('utn') + .uint16('re_t0') + .int32('delta_X0') + .int32('delta_Y0') + .int32('delta_Z0') + .int32('theta_01') + .int32('theta_02') + .int32('theta_03') + .int32('scale') + .int32('dot_delta_X0') + .int32('dot_delta_Y0') + .int32('dot_delta_Z0') + .int32('dot_theta_01') + .int32('dot_theta_02') + .int32('dot_theta_03') + .int16('dot_scale'); +MsgItrf.prototype.fieldSpec = []; +MsgItrf.prototype.fieldSpec.push(['ssr_iod', 'writeUInt8', 1]); +MsgItrf.prototype.fieldSpec.push(['sn_counter_n', 'writeUInt8', 1]); +MsgItrf.prototype.fieldSpec.push(['sn', 'string', 31]); +MsgItrf.prototype.fieldSpec.push(['tn_counter_m', 'writeUInt8', 1]); +MsgItrf.prototype.fieldSpec.push(['tn', 'string', 31]); +MsgItrf.prototype.fieldSpec.push(['sin', 'writeUInt8', 1]); +MsgItrf.prototype.fieldSpec.push(['utn', 'writeUInt16LE', 2]); +MsgItrf.prototype.fieldSpec.push(['re_t0', 'writeUInt16LE', 2]); +MsgItrf.prototype.fieldSpec.push(['delta_X0', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['delta_Y0', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['delta_Z0', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['theta_01', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['theta_02', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['theta_03', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['scale', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['dot_delta_X0', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['dot_delta_Y0', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['dot_delta_Z0', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['dot_theta_01', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['dot_theta_02', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['dot_theta_03', 'writeInt32LE', 4]); +MsgItrf.prototype.fieldSpec.push(['dot_scale', 'writeInt16LE', 2]); + module.exports = { 0x0102: MsgGpsTime, MsgGpsTime: MsgGpsTime, @@ -2210,4 +2300,6 @@ module.exports = { MsgProtectionLevelDepA: MsgProtectionLevelDepA, 0x0217: MsgProtectionLevel, MsgProtectionLevel: MsgProtectionLevel, + 0x0244: MsgItrf, + MsgItrf: MsgItrf, } \ No newline at end of file diff --git a/jsonschema/MsgItrf.json b/jsonschema/MsgItrf.json new file mode 100644 index 0000000000..58c7d85a9a --- /dev/null +++ b/jsonschema/MsgItrf.json @@ -0,0 +1,66 @@ +{ + "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": "#MsgItrf", + "title":"MsgItrf", + "description":"", + "type": "object", + "properties": { + "ssr_iod": {"type": "integer"}, + "sn_counter_n": {"type": "integer"}, + "sn": {"type": "string"}, + "tn_counter_m": {"type": "integer"}, + "tn": {"type": "string"}, + "sin": {"type": "integer"}, + "utn": {"type": "integer"}, + "re_t0": {"type": "integer"}, + "delta_X0": {"type": "integer"}, + "delta_Y0": {"type": "integer"}, + "delta_Z0": {"type": "integer"}, + "theta_01": {"type": "integer"}, + "theta_02": {"type": "integer"}, + "theta_03": {"type": "integer"}, + "scale": {"type": "integer"}, + "dot_delta_X0": {"type": "integer"}, + "dot_delta_Y0": {"type": "integer"}, + "dot_delta_Z0": {"type": "integer"}, + "dot_theta_01": {"type": "integer"}, + "dot_theta_02": {"type": "integer"}, + "dot_theta_03": {"type": "integer"}, + "dot_scale": {"type": "integer"} + }, + "required": [ + "ssr_iod", + "sn_counter_n", + "sn", + "tn_counter_m", + "tn", + "sin", + "utn", + "re_t0", + "delta_X0", + "delta_Y0", + "delta_Z0", + "theta_01", + "theta_02", + "theta_03", + "scale", + "dot_delta_X0", + "dot_delta_Y0", + "dot_delta_Z0", + "dot_theta_01", + "dot_theta_02", + "dot_theta_03", + "dot_scale" + ] +} \ No newline at end of file diff --git a/proto/navigation.proto b/proto/navigation.proto index b3acec3287..133b166f13 100644 --- a/proto/navigation.proto +++ b/proto/navigation.proto @@ -647,4 +647,33 @@ message MsgProtectionLevel { sint32 pitch = 19; sint32 heading = 20; uint32 flags = 21; +} + +/** Reference Frame Transformation Parameter + * +None + */ +message MsgItrf { + uint32 ssr_iod = 1; + uint32 sn_counter_n = 2; + string sn = 3; + uint32 tn_counter_m = 4; + string tn = 5; + uint32 sin = 6; + uint32 utn = 7; + uint32 re_t0 = 8; + sint32 delta_X0 = 9; + sint32 delta_Y0 = 10; + sint32 delta_Z0 = 11; + sint32 theta_01 = 12; + sint32 theta_02 = 13; + sint32 theta_03 = 14; + sint32 scale = 15; + sint32 dot_delta_X0 = 16; + sint32 dot_delta_Y0 = 17; + sint32 dot_delta_Z0 = 18; + sint32 dot_theta_01 = 19; + sint32 dot_theta_02 = 20; + sint32 dot_theta_03 = 21; + sint32 dot_scale = 22; } \ No newline at end of file diff --git a/python/sbp/navigation.py b/python/sbp/navigation.py index 49dad9d458..e6fb13349e 100755 --- a/python/sbp/navigation.py +++ b/python/sbp/navigation.py @@ -5105,6 +5105,200 @@ def to_json_dict(self): d.update(j) return d +SBP_MSG_ITRF = 0x0244 +class MsgItrf(SBP): + """SBP class for message MSG_ITRF (0x0244). + + You can have MSG_ITRF inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + + Parameters + ---------- + sbp : SBP + SBP parent object to inherit from. + ssr_iod : int + SSR IOD parameter. + sn_counter_n : int + Source-Name Counter N. + sn : string + Source-Name + tn_counter_m : int + Target-Name Counter M. + tn : string + Target-Name + sin : int + System Identification Number. + utn : int + Utilized Transformation Message. + re_t0 : int + Reference Epoch t0 for transformation parameter set given as Modified + Julian Day (MDJ) Number minus 44244 days. + delta_X0 : int + Translation in X for Reference Epoch t0. + delta_Y0 : int + Translation in Y for Reference Epoch t0. + delta_Z0 : int + Translation in Z for Reference Epoch t0. + theta_01 : int + Rotation around the X-axis for Reference Epoch t0. + theta_02 : int + Rotation around the Y-axis for Reference Epoch t0. + theta_03 : int + Rotation around the Z-axis for Reference Epoch t0. + scale : int + Scale correction for Reference Epoch t0. + dot_delta_X0 : int + Rate of change of translation in X. + dot_delta_Y0 : int + Rate of change of translation in Y. + dot_delta_Z0 : int + Rate of change of translation in Z. + dot_theta_01 : int + Rate of change of rotation around the X-axis. + dot_theta_02 : int + Rate of change of rotation around the Y-axis. + dot_theta_03 : int + Rate of change of rotation around the Z-axis. + dot_scale : int + Rate of change of scale correction. + sender : int + Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). + + """ + _parser = construct.Struct( + 'ssr_iod' / construct.Int8ul, + 'sn_counter_n' / construct.Int8ul, + 'sn'/ construct.Bytes(31), + 'tn_counter_m' / construct.Int8ul, + 'tn'/ construct.Bytes(31), + 'sin' / construct.Int8ul, + 'utn' / construct.Int16ul, + 're_t0' / construct.Int16ul, + 'delta_X0' / construct.Int32sl, + 'delta_Y0' / construct.Int32sl, + 'delta_Z0' / construct.Int32sl, + 'theta_01' / construct.Int32sl, + 'theta_02' / construct.Int32sl, + 'theta_03' / construct.Int32sl, + 'scale' / construct.Int32sl, + 'dot_delta_X0' / construct.Int32sl, + 'dot_delta_Y0' / construct.Int32sl, + 'dot_delta_Z0' / construct.Int32sl, + 'dot_theta_01' / construct.Int32sl, + 'dot_theta_02' / construct.Int32sl, + 'dot_theta_03' / construct.Int32sl, + 'dot_scale' / construct.Int16sl,) + __slots__ = [ + 'ssr_iod', + 'sn_counter_n', + 'sn', + 'tn_counter_m', + 'tn', + 'sin', + 'utn', + 're_t0', + 'delta_X0', + 'delta_Y0', + 'delta_Z0', + 'theta_01', + 'theta_02', + 'theta_03', + 'scale', + 'dot_delta_X0', + 'dot_delta_Y0', + 'dot_delta_Z0', + 'dot_theta_01', + 'dot_theta_02', + 'dot_theta_03', + 'dot_scale', + ] + + def __init__(self, sbp=None, **kwargs): + if sbp: + super( MsgItrf, + self).__init__(sbp.msg_type, sbp.sender, sbp.length, + sbp.payload, sbp.crc) + self.from_binary(sbp.payload) + else: + super( MsgItrf, self).__init__() + self.msg_type = SBP_MSG_ITRF + self.sender = kwargs.pop('sender', SENDER_ID) + self.ssr_iod = kwargs.pop('ssr_iod') + self.sn_counter_n = kwargs.pop('sn_counter_n') + self.sn = kwargs.pop('sn') + self.tn_counter_m = kwargs.pop('tn_counter_m') + self.tn = kwargs.pop('tn') + self.sin = kwargs.pop('sin') + self.utn = kwargs.pop('utn') + self.re_t0 = kwargs.pop('re_t0') + self.delta_X0 = kwargs.pop('delta_X0') + self.delta_Y0 = kwargs.pop('delta_Y0') + self.delta_Z0 = kwargs.pop('delta_Z0') + self.theta_01 = kwargs.pop('theta_01') + self.theta_02 = kwargs.pop('theta_02') + self.theta_03 = kwargs.pop('theta_03') + self.scale = kwargs.pop('scale') + self.dot_delta_X0 = kwargs.pop('dot_delta_X0') + self.dot_delta_Y0 = kwargs.pop('dot_delta_Y0') + self.dot_delta_Z0 = kwargs.pop('dot_delta_Z0') + self.dot_theta_01 = kwargs.pop('dot_theta_01') + self.dot_theta_02 = kwargs.pop('dot_theta_02') + self.dot_theta_03 = kwargs.pop('dot_theta_03') + self.dot_scale = kwargs.pop('dot_scale') + + 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 MsgItrf.from_json_dict(d) + + @staticmethod + def from_json_dict(d): + sbp = SBP.from_json_dict(d) + return MsgItrf(sbp, **d) + + + def from_binary(self, d): + """Given a binary payload d, update the appropriate payload fields of + the message. + + """ + p = MsgItrf._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 = MsgItrf._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 = MsgItrf._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( MsgItrf, self).to_json_dict() + j = walk_json_dict(exclude_fields(self)) + d.update(j) + return d + msg_classes = { 0x0102: MsgGPSTime, @@ -5145,4 +5339,5 @@ def to_json_dict(self): 0x0207: MsgBaselineHeadingDepA, 0x0216: MsgProtectionLevelDepA, 0x0217: MsgProtectionLevel, + 0x0244: MsgItrf, } \ No newline at end of file diff --git a/python/tests/sbp/test_table.py b/python/tests/sbp/test_table.py index 2f35619b22..c09dc0ccbf 100644 --- a/python/tests/sbp/test_table.py +++ b/python/tests/sbp/test_table.py @@ -41,7 +41,7 @@ def test_table_count(): Test number of available messages to deserialize. """ - number_of_messages = 217 + number_of_messages = 218 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 fc903931b5..6ccba39e37 100644 --- a/rust/sbp/src/messages/mod.rs +++ b/rust/sbp/src/messages/mod.rs @@ -99,6 +99,7 @@ use self::navigation::msg_dops_dep_a::MsgDopsDepA; use self::navigation::msg_gps_time::MsgGpsTime; use self::navigation::msg_gps_time_dep_a::MsgGpsTimeDepA; use self::navigation::msg_gps_time_gnss::MsgGpsTimeGnss; +use self::navigation::msg_itrf::MsgItrf; use self::navigation::msg_pos_ecef::MsgPosEcef; use self::navigation::msg_pos_ecef_cov::MsgPosEcefCov; use self::navigation::msg_pos_ecef_cov_gnss::MsgPosEcefCovGnss; @@ -649,6 +650,8 @@ pub enum Sbp { MsgPosEcefCovGnss(MsgPosEcefCovGnss), /// GNSS-only Velocity in ECEF MsgVelEcefCovGnss(MsgVelEcefCovGnss), + /// Reference Frame Transformation Parameter + MsgItrf(MsgItrf), /// Navigation DataBase Event MsgNdbEvent(MsgNdbEvent), /// Plaintext logging messages with levels @@ -1577,6 +1580,11 @@ impl Sbp { msg.set_sender_id(frame.sender_id); Ok(Sbp::MsgVelEcefCovGnss(msg)) } + MsgItrf::MESSAGE_TYPE => { + let mut msg = MsgItrf::parse(&mut frame.payload)?; + msg.set_sender_id(frame.sender_id); + Ok(Sbp::MsgItrf(msg)) + } MsgNdbEvent::MESSAGE_TYPE => { let mut msg = MsgNdbEvent::parse(&mut frame.payload)?; msg.set_sender_id(frame.sender_id); @@ -2058,6 +2066,7 @@ impl SbpMessage for Sbp { Sbp::MsgVelNedCovGnss(msg) => msg.message_name(), Sbp::MsgPosEcefCovGnss(msg) => msg.message_name(), Sbp::MsgVelEcefCovGnss(msg) => msg.message_name(), + Sbp::MsgItrf(msg) => msg.message_name(), Sbp::MsgNdbEvent(msg) => msg.message_name(), Sbp::MsgLog(msg) => msg.message_name(), Sbp::MsgFwd(msg) => msg.message_name(), @@ -2281,6 +2290,7 @@ impl SbpMessage for Sbp { Sbp::MsgVelNedCovGnss(msg) => msg.message_type(), Sbp::MsgPosEcefCovGnss(msg) => msg.message_type(), Sbp::MsgVelEcefCovGnss(msg) => msg.message_type(), + Sbp::MsgItrf(msg) => msg.message_type(), Sbp::MsgNdbEvent(msg) => msg.message_type(), Sbp::MsgLog(msg) => msg.message_type(), Sbp::MsgFwd(msg) => msg.message_type(), @@ -2504,6 +2514,7 @@ impl SbpMessage for Sbp { Sbp::MsgVelNedCovGnss(msg) => msg.sender_id(), Sbp::MsgPosEcefCovGnss(msg) => msg.sender_id(), Sbp::MsgVelEcefCovGnss(msg) => msg.sender_id(), + Sbp::MsgItrf(msg) => msg.sender_id(), Sbp::MsgNdbEvent(msg) => msg.sender_id(), Sbp::MsgLog(msg) => msg.sender_id(), Sbp::MsgFwd(msg) => msg.sender_id(), @@ -2727,6 +2738,7 @@ impl SbpMessage for Sbp { Sbp::MsgVelNedCovGnss(msg) => msg.set_sender_id(new_id), Sbp::MsgPosEcefCovGnss(msg) => msg.set_sender_id(new_id), Sbp::MsgVelEcefCovGnss(msg) => msg.set_sender_id(new_id), + Sbp::MsgItrf(msg) => msg.set_sender_id(new_id), Sbp::MsgNdbEvent(msg) => msg.set_sender_id(new_id), Sbp::MsgLog(msg) => msg.set_sender_id(new_id), Sbp::MsgFwd(msg) => msg.set_sender_id(new_id), @@ -2950,6 +2962,7 @@ impl SbpMessage for Sbp { Sbp::MsgVelNedCovGnss(msg) => msg.encoded_len(), Sbp::MsgPosEcefCovGnss(msg) => msg.encoded_len(), Sbp::MsgVelEcefCovGnss(msg) => msg.encoded_len(), + Sbp::MsgItrf(msg) => msg.encoded_len(), Sbp::MsgNdbEvent(msg) => msg.encoded_len(), Sbp::MsgLog(msg) => msg.encoded_len(), Sbp::MsgFwd(msg) => msg.encoded_len(), @@ -3176,6 +3189,7 @@ impl SbpMessage for Sbp { Sbp::MsgVelNedCovGnss(msg) => msg.gps_time(), Sbp::MsgPosEcefCovGnss(msg) => msg.gps_time(), Sbp::MsgVelEcefCovGnss(msg) => msg.gps_time(), + Sbp::MsgItrf(msg) => msg.gps_time(), Sbp::MsgNdbEvent(msg) => msg.gps_time(), Sbp::MsgLog(msg) => msg.gps_time(), Sbp::MsgFwd(msg) => msg.gps_time(), @@ -3407,6 +3421,7 @@ impl WireFormat for Sbp { Sbp::MsgVelNedCovGnss(msg) => WireFormat::write(msg, buf), Sbp::MsgPosEcefCovGnss(msg) => WireFormat::write(msg, buf), Sbp::MsgVelEcefCovGnss(msg) => WireFormat::write(msg, buf), + Sbp::MsgItrf(msg) => WireFormat::write(msg, buf), Sbp::MsgNdbEvent(msg) => WireFormat::write(msg, buf), Sbp::MsgLog(msg) => WireFormat::write(msg, buf), Sbp::MsgFwd(msg) => WireFormat::write(msg, buf), @@ -3630,6 +3645,7 @@ impl WireFormat for Sbp { Sbp::MsgVelNedCovGnss(msg) => WireFormat::len(msg), Sbp::MsgPosEcefCovGnss(msg) => WireFormat::len(msg), Sbp::MsgVelEcefCovGnss(msg) => WireFormat::len(msg), + Sbp::MsgItrf(msg) => WireFormat::len(msg), Sbp::MsgNdbEvent(msg) => WireFormat::len(msg), Sbp::MsgLog(msg) => WireFormat::len(msg), Sbp::MsgFwd(msg) => WireFormat::len(msg), @@ -4622,6 +4638,12 @@ impl From for Sbp { } } +impl From for Sbp { + fn from(msg: MsgItrf) -> Self { + Sbp::MsgItrf(msg) + } +} + impl From for Sbp { fn from(msg: MsgNdbEvent) -> Self { Sbp::MsgNdbEvent(msg) diff --git a/rust/sbp/src/messages/navigation.rs b/rust/sbp/src/messages/navigation.rs index 222db5c4ca..626dcfa5e2 100644 --- a/rust/sbp/src/messages/navigation.rs +++ b/rust/sbp/src/messages/navigation.rs @@ -48,6 +48,7 @@ pub use msg_dops_dep_a::MsgDopsDepA; pub use msg_gps_time::MsgGpsTime; pub use msg_gps_time_dep_a::MsgGpsTimeDepA; pub use msg_gps_time_gnss::MsgGpsTimeGnss; +pub use msg_itrf::MsgItrf; pub use msg_pos_ecef::MsgPosEcef; pub use msg_pos_ecef_cov::MsgPosEcefCov; pub use msg_pos_ecef_cov_gnss::MsgPosEcefCovGnss; @@ -2137,6 +2138,221 @@ pub mod msg_gps_time_gnss { } } +pub mod msg_itrf { + #![allow(unused_imports)] + + use super::*; + use crate::messages::lib::*; + /// Reference Frame Transformation Parameter + #[cfg_attr(feature = "serde", derive(serde::Serialize))] + #[derive(Debug, Clone)] + pub struct MsgItrf { + /// The message sender_id + #[cfg_attr(feature = "serde", serde(skip_serializing))] + pub sender_id: Option, + /// SSR IOD parameter. + #[cfg_attr(feature = "serde", serde(rename(serialize = "ssr_iod")))] + pub ssr_iod: u8, + /// Source-Name Counter N. + #[cfg_attr(feature = "serde", serde(rename(serialize = "sn_counter_n")))] + pub sn_counter_n: u8, + /// Source-Name + #[cfg_attr(feature = "serde", serde(rename(serialize = "sn")))] + pub sn: SbpString<[u8; 31], Unterminated>, + /// Target-Name Counter M. + #[cfg_attr(feature = "serde", serde(rename(serialize = "tn_counter_m")))] + pub tn_counter_m: u8, + /// Target-Name + #[cfg_attr(feature = "serde", serde(rename(serialize = "tn")))] + pub tn: SbpString<[u8; 31], Unterminated>, + /// System Identification Number. + #[cfg_attr(feature = "serde", serde(rename(serialize = "sin")))] + pub sin: u8, + /// Utilized Transformation Message. + #[cfg_attr(feature = "serde", serde(rename(serialize = "utn")))] + pub utn: u16, + /// Reference Epoch t0 for transformation parameter set given as Modified + /// Julian Day (MDJ) Number minus 44244 days. + #[cfg_attr(feature = "serde", serde(rename(serialize = "re_t0")))] + pub re_t0: u16, + /// Translation in X for Reference Epoch t0. + #[cfg_attr(feature = "serde", serde(rename(serialize = "delta_X0")))] + pub delta_x0: i32, + /// Translation in Y for Reference Epoch t0. + #[cfg_attr(feature = "serde", serde(rename(serialize = "delta_Y0")))] + pub delta_y0: i32, + /// Translation in Z for Reference Epoch t0. + #[cfg_attr(feature = "serde", serde(rename(serialize = "delta_Z0")))] + pub delta_z0: i32, + /// Rotation around the X-axis for Reference Epoch t0. + #[cfg_attr(feature = "serde", serde(rename(serialize = "theta_01")))] + pub theta_01: i32, + /// Rotation around the Y-axis for Reference Epoch t0. + #[cfg_attr(feature = "serde", serde(rename(serialize = "theta_02")))] + pub theta_02: i32, + /// Rotation around the Z-axis for Reference Epoch t0. + #[cfg_attr(feature = "serde", serde(rename(serialize = "theta_03")))] + pub theta_03: i32, + /// Scale correction for Reference Epoch t0. + #[cfg_attr(feature = "serde", serde(rename(serialize = "scale")))] + pub scale: i32, + /// Rate of change of translation in X. + #[cfg_attr(feature = "serde", serde(rename(serialize = "dot_delta_X0")))] + pub dot_delta_x0: i32, + /// Rate of change of translation in Y. + #[cfg_attr(feature = "serde", serde(rename(serialize = "dot_delta_Y0")))] + pub dot_delta_y0: i32, + /// Rate of change of translation in Z. + #[cfg_attr(feature = "serde", serde(rename(serialize = "dot_delta_Z0")))] + pub dot_delta_z0: i32, + /// Rate of change of rotation around the X-axis. + #[cfg_attr(feature = "serde", serde(rename(serialize = "dot_theta_01")))] + pub dot_theta_01: i32, + /// Rate of change of rotation around the Y-axis. + #[cfg_attr(feature = "serde", serde(rename(serialize = "dot_theta_02")))] + pub dot_theta_02: i32, + /// Rate of change of rotation around the Z-axis. + #[cfg_attr(feature = "serde", serde(rename(serialize = "dot_theta_03")))] + pub dot_theta_03: i32, + /// Rate of change of scale correction. + #[cfg_attr(feature = "serde", serde(rename(serialize = "dot_scale")))] + pub dot_scale: i16, + } + + impl ConcreteMessage for MsgItrf { + const MESSAGE_TYPE: u16 = 580; + const MESSAGE_NAME: &'static str = "MSG_ITRF"; + } + + impl SbpMessage for MsgItrf { + 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 MsgItrf { + type Error = TryFromSbpError; + fn try_from(msg: Sbp) -> Result { + match msg { + Sbp::MsgItrf(m) => Ok(m), + _ => Err(TryFromSbpError), + } + } + } + + impl WireFormat for MsgItrf { + const MIN_LEN: usize = ::MIN_LEN + + ::MIN_LEN + + as WireFormat>::MIN_LEN + + ::MIN_LEN + + as WireFormat>::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN; + fn len(&self) -> usize { + WireFormat::len(&self.ssr_iod) + + WireFormat::len(&self.sn_counter_n) + + WireFormat::len(&self.sn) + + WireFormat::len(&self.tn_counter_m) + + WireFormat::len(&self.tn) + + WireFormat::len(&self.sin) + + WireFormat::len(&self.utn) + + WireFormat::len(&self.re_t0) + + WireFormat::len(&self.delta_x0) + + WireFormat::len(&self.delta_y0) + + WireFormat::len(&self.delta_z0) + + WireFormat::len(&self.theta_01) + + WireFormat::len(&self.theta_02) + + WireFormat::len(&self.theta_03) + + WireFormat::len(&self.scale) + + WireFormat::len(&self.dot_delta_x0) + + WireFormat::len(&self.dot_delta_y0) + + WireFormat::len(&self.dot_delta_z0) + + WireFormat::len(&self.dot_theta_01) + + WireFormat::len(&self.dot_theta_02) + + WireFormat::len(&self.dot_theta_03) + + WireFormat::len(&self.dot_scale) + } + fn write(&self, buf: &mut B) { + WireFormat::write(&self.ssr_iod, buf); + WireFormat::write(&self.sn_counter_n, buf); + WireFormat::write(&self.sn, buf); + WireFormat::write(&self.tn_counter_m, buf); + WireFormat::write(&self.tn, buf); + WireFormat::write(&self.sin, buf); + WireFormat::write(&self.utn, buf); + WireFormat::write(&self.re_t0, buf); + WireFormat::write(&self.delta_x0, buf); + WireFormat::write(&self.delta_y0, buf); + WireFormat::write(&self.delta_z0, buf); + WireFormat::write(&self.theta_01, buf); + WireFormat::write(&self.theta_02, buf); + WireFormat::write(&self.theta_03, buf); + WireFormat::write(&self.scale, buf); + WireFormat::write(&self.dot_delta_x0, buf); + WireFormat::write(&self.dot_delta_y0, buf); + WireFormat::write(&self.dot_delta_z0, buf); + WireFormat::write(&self.dot_theta_01, buf); + WireFormat::write(&self.dot_theta_02, buf); + WireFormat::write(&self.dot_theta_03, buf); + WireFormat::write(&self.dot_scale, buf); + } + fn parse_unchecked(buf: &mut B) -> Self { + MsgItrf { + sender_id: None, + ssr_iod: WireFormat::parse_unchecked(buf), + sn_counter_n: WireFormat::parse_unchecked(buf), + sn: WireFormat::parse_unchecked(buf), + tn_counter_m: WireFormat::parse_unchecked(buf), + tn: WireFormat::parse_unchecked(buf), + sin: WireFormat::parse_unchecked(buf), + utn: WireFormat::parse_unchecked(buf), + re_t0: WireFormat::parse_unchecked(buf), + delta_x0: WireFormat::parse_unchecked(buf), + delta_y0: WireFormat::parse_unchecked(buf), + delta_z0: WireFormat::parse_unchecked(buf), + theta_01: WireFormat::parse_unchecked(buf), + theta_02: WireFormat::parse_unchecked(buf), + theta_03: WireFormat::parse_unchecked(buf), + scale: WireFormat::parse_unchecked(buf), + dot_delta_x0: WireFormat::parse_unchecked(buf), + dot_delta_y0: WireFormat::parse_unchecked(buf), + dot_delta_z0: WireFormat::parse_unchecked(buf), + dot_theta_01: WireFormat::parse_unchecked(buf), + dot_theta_02: WireFormat::parse_unchecked(buf), + dot_theta_03: WireFormat::parse_unchecked(buf), + dot_scale: WireFormat::parse_unchecked(buf), + } + } + } +} + pub mod msg_pos_ecef { #![allow(unused_imports)] diff --git a/rust/sbp/tests/integration/auto_check_sbp_navigation_msg_itrf.rs b/rust/sbp/tests/integration/auto_check_sbp_navigation_msg_itrf.rs new file mode 100644 index 0000000000..0a001b9642 Binary files /dev/null and b/rust/sbp/tests/integration/auto_check_sbp_navigation_msg_itrf.rs differ diff --git a/rust/sbp/tests/integration/main.rs b/rust/sbp/tests/integration/main.rs index d714748939..5863442c03 100644 --- a/rust/sbp/tests/integration/main.rs +++ b/rust/sbp/tests/integration/main.rs @@ -37,6 +37,7 @@ mod auto_check_sbp_navigation_msg_dops_dep_a; mod auto_check_sbp_navigation_msg_gps_time; mod auto_check_sbp_navigation_msg_gps_time_dep_a; mod auto_check_sbp_navigation_msg_gps_time_gnss; +mod auto_check_sbp_navigation_msg_itrf; mod auto_check_sbp_navigation_msg_pos_ecef; mod auto_check_sbp_navigation_msg_pos_ecef_cov; mod auto_check_sbp_navigation_msg_pos_ecef_cov_gnss; diff --git a/sbpjson/elm/SbpJson.elm b/sbpjson/elm/SbpJson.elm index 504afade1e..487b7bf5cd 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, boundsHeader, carrierPhase, codeBiasesContent, codePhaseBiasesSatSig, doppler, ephemerisCommonContent, estimatedHorizontalErrorEllipse, gnssInputType, gnssCapb, gnssSignal, gpsTime, gpsTimeSEC, gridElement, gridElementNoStd, griddedCorrectionHeader, imuInputType, integritySSRHeader, 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, msgSsrCodePhaseBiasesBounds, msgSsrFlagHighLevel, msgSsrFlagIonoGridPointSatLos, msgSsrFlagIonoGridPoints, msgSsrFlagIonoTileSatLos, msgSsrFlagSatellites, msgSsrFlagTropoGridPoints, msgSsrGriddedCorrection, msgSsrGriddedCorrectionBounds, msgSsrOrbitClock, msgSsrOrbitClockBounds, msgSsrOrbitClockBoundsDegradation, msgSsrPhaseBiases, msgSsrSatelliteApc, msgSsrStecCorrection, msgSsrTileDefinition, msgStartup, msgStatusJournal, 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, orbitClockBound, orbitClockBoundDegradation, packedObsContent, packedOsrContent, period, phaseBiasesContent, stecHeader, stecResidual, stecResidualNoStd, stecSatElement, stecSatElementIntegrity, satelliteAPC, solutionInputType, statusJournalItem, subSystemReport, svAzEl, svID, trackingChannelCorrelation, trackingChannelState, troposphericDelayCorrection, troposphericDelayCorrectionNoStd, uartChannel) +-- import SbpJson exposing (acqSvProfile, almanacCommonContent, boundsHeader, carrierPhase, codeBiasesContent, codePhaseBiasesSatSig, doppler, ephemerisCommonContent, estimatedHorizontalErrorEllipse, gnssInputType, gnssCapb, gnssSignal, gpsTime, gpsTimeSEC, gridElement, gridElementNoStd, griddedCorrectionHeader, imuInputType, integritySSRHeader, 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, msgItrf, 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, msgSsrCodePhaseBiasesBounds, msgSsrFlagHighLevel, msgSsrFlagIonoGridPointSatLos, msgSsrFlagIonoGridPoints, msgSsrFlagIonoTileSatLos, msgSsrFlagSatellites, msgSsrFlagTropoGridPoints, msgSsrGriddedCorrection, msgSsrGriddedCorrectionBounds, msgSsrOrbitClock, msgSsrOrbitClockBounds, msgSsrOrbitClockBoundsDegradation, msgSsrPhaseBiases, msgSsrSatelliteApc, msgSsrStecCorrection, msgSsrTileDefinition, msgStartup, msgStatusJournal, 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, orbitClockBound, orbitClockBoundDegradation, packedObsContent, packedOsrContent, period, phaseBiasesContent, stecHeader, stecResidual, stecResidualNoStd, stecSatElement, stecSatElementIntegrity, satelliteAPC, solutionInputType, statusJournalItem, subSystemReport, svAzEl, svID, trackingChannelCorrelation, trackingChannelState, troposphericDelayCorrection, troposphericDelayCorrectionNoStd, uartChannel) -- -- and you're off to the races with -- @@ -93,6 +93,7 @@ -- decodeString msgInsStatus myJsonString -- decodeString msgInsUpdates myJsonString -- decodeString msgIono myJsonString +-- decodeString msgItrf myJsonString -- decodeString msgLinuxCPUState myJsonString -- decodeString msgLinuxMemState myJsonString -- decodeString msgLinuxProcessFdCount myJsonString @@ -467,6 +468,9 @@ module SbpJson exposing , MsgIono , msgIonoToString , msgIono + , MsgItrf + , msgItrfToString + , msgItrf , MsgLinuxCPUState , msgLinuxCPUStateToString , msgLinuxCPUState @@ -1735,6 +1739,31 @@ type alias MsgIono = , tNmct : GpsTimeSEC } +type alias MsgItrf = + { deltaX0 : Int + , deltaY0 : Int + , deltaZ0 : Int + , dotDeltaX0 : Int + , dotDeltaY0 : Int + , dotDeltaZ0 : Int + , dotScale : Int + , dotTheta01 : Int + , dotTheta02 : Int + , dotTheta03 : Int + , reT0 : Int + , scale : Int + , sin : Int + , sn : String + , snCounterN : Int + , ssrIod : Int + , theta01 : Int + , theta02 : Int + , theta03 : Int + , tn : String + , tnCounterM : Int + , utn : Int + } + {-| This message indicates the process state of the top 10 heaviest consumers of CPU on the system, including a timestamp. -} @@ -3443,6 +3472,9 @@ msgInsUpdatesToString r = Jenc.encode 0 (encodeMsgInsUpdates r) msgIonoToString : MsgIono -> String msgIonoToString r = Jenc.encode 0 (encodeMsgIono r) +msgItrfToString : MsgItrf -> String +msgItrfToString r = Jenc.encode 0 (encodeMsgItrf r) + msgLinuxCPUStateToString : MsgLinuxCPUState -> String msgLinuxCPUStateToString r = Jenc.encode 0 (encodeMsgLinuxCPUState r) @@ -5213,6 +5245,59 @@ encodeMsgIono x = , ("t_nmct", encodeGpsTimeSEC x.tNmct) ] +msgItrf : Jdec.Decoder MsgItrf +msgItrf = + Jpipe.decode MsgItrf + |> Jpipe.required "delta_X0" Jdec.int + |> Jpipe.required "delta_Y0" Jdec.int + |> Jpipe.required "delta_Z0" Jdec.int + |> Jpipe.required "dot_delta_X0" Jdec.int + |> Jpipe.required "dot_delta_Y0" Jdec.int + |> Jpipe.required "dot_delta_Z0" Jdec.int + |> Jpipe.required "dot_scale" Jdec.int + |> Jpipe.required "dot_theta_01" Jdec.int + |> Jpipe.required "dot_theta_02" Jdec.int + |> Jpipe.required "dot_theta_03" Jdec.int + |> Jpipe.required "re_t0" Jdec.int + |> Jpipe.required "scale" Jdec.int + |> Jpipe.required "sin" Jdec.int + |> Jpipe.required "sn" Jdec.string + |> Jpipe.required "sn_counter_n" Jdec.int + |> Jpipe.required "ssr_iod" Jdec.int + |> Jpipe.required "theta_01" Jdec.int + |> Jpipe.required "theta_02" Jdec.int + |> Jpipe.required "theta_03" Jdec.int + |> Jpipe.required "tn" Jdec.string + |> Jpipe.required "tn_counter_m" Jdec.int + |> Jpipe.required "utn" Jdec.int + +encodeMsgItrf : MsgItrf -> Jenc.Value +encodeMsgItrf x = + Jenc.object + [ ("delta_X0", Jenc.int x.deltaX0) + , ("delta_Y0", Jenc.int x.deltaY0) + , ("delta_Z0", Jenc.int x.deltaZ0) + , ("dot_delta_X0", Jenc.int x.dotDeltaX0) + , ("dot_delta_Y0", Jenc.int x.dotDeltaY0) + , ("dot_delta_Z0", Jenc.int x.dotDeltaZ0) + , ("dot_scale", Jenc.int x.dotScale) + , ("dot_theta_01", Jenc.int x.dotTheta01) + , ("dot_theta_02", Jenc.int x.dotTheta02) + , ("dot_theta_03", Jenc.int x.dotTheta03) + , ("re_t0", Jenc.int x.reT0) + , ("scale", Jenc.int x.scale) + , ("sin", Jenc.int x.sin) + , ("sn", Jenc.string x.sn) + , ("sn_counter_n", Jenc.int x.snCounterN) + , ("ssr_iod", Jenc.int x.ssrIod) + , ("theta_01", Jenc.int x.theta01) + , ("theta_02", Jenc.int x.theta02) + , ("theta_03", Jenc.int x.theta03) + , ("tn", Jenc.string x.tn) + , ("tn_counter_m", Jenc.int x.tnCounterM) + , ("utn", Jenc.int x.utn) + ] + msgLinuxCPUState : Jdec.Decoder MsgLinuxCPUState msgLinuxCPUState = Jpipe.decode MsgLinuxCPUState diff --git a/sbpjson/javascript/SbpJson.js b/sbpjson/javascript/SbpJson.js index 146a268487..7c9ae014d3 100644 --- a/sbpjson/javascript/SbpJson.js +++ b/sbpjson/javascript/SbpJson.js @@ -86,6 +86,7 @@ // const msgInsStatus = Convert.toMsgInsStatus(json); // const msgInsUpdates = Convert.toMsgInsUpdates(json); // const msgIono = Convert.toMsgIono(json); +// const msgItrf = Convert.toMsgItrf(json); // const msgLinuxCPUState = Convert.toMsgLinuxCPUState(json); // const msgLinuxMemState = Convert.toMsgLinuxMemState(json); // const msgLinuxProcessFdCount = Convert.toMsgLinuxProcessFdCount(json); @@ -884,6 +885,14 @@ function msgIonoToJson(value) { return JSON.stringify(uncast(value, r("MsgIono")), null, 2); } +function toMsgItrf(json) { + return cast(JSON.parse(json), r("MsgItrf")); +} + +function msgItrfToJson(value) { + return JSON.stringify(uncast(value, r("MsgItrf")), null, 2); +} + function toMsgLinuxCPUState(json) { return cast(JSON.parse(json), r("MsgLinuxCPUState")); } @@ -2488,6 +2497,30 @@ const typeMap = { { json: "b3", js: "b3", typ: 3.14 }, { json: "t_nmct", js: "t_nmct", typ: r("GpsTimeSEC") }, ], "any"), + "MsgItrf": o([ + { json: "delta_X0", js: "delta_X0", typ: 0 }, + { json: "delta_Y0", js: "delta_Y0", typ: 0 }, + { json: "delta_Z0", js: "delta_Z0", typ: 0 }, + { json: "dot_delta_X0", js: "dot_delta_X0", typ: 0 }, + { json: "dot_delta_Y0", js: "dot_delta_Y0", typ: 0 }, + { json: "dot_delta_Z0", js: "dot_delta_Z0", typ: 0 }, + { json: "dot_scale", js: "dot_scale", typ: 0 }, + { json: "dot_theta_01", js: "dot_theta_01", typ: 0 }, + { json: "dot_theta_02", js: "dot_theta_02", typ: 0 }, + { json: "dot_theta_03", js: "dot_theta_03", typ: 0 }, + { json: "re_t0", js: "re_t0", typ: 0 }, + { json: "scale", js: "scale", typ: 0 }, + { json: "sin", js: "sin", typ: 0 }, + { json: "sn", js: "sn", typ: "" }, + { json: "sn_counter_n", js: "sn_counter_n", typ: 0 }, + { json: "ssr_iod", js: "ssr_iod", typ: 0 }, + { json: "theta_01", js: "theta_01", typ: 0 }, + { json: "theta_02", js: "theta_02", typ: 0 }, + { json: "theta_03", js: "theta_03", typ: 0 }, + { json: "tn", js: "tn", typ: "" }, + { json: "tn_counter_m", js: "tn_counter_m", typ: 0 }, + { json: "utn", js: "utn", typ: 0 }, + ], "any"), "MsgLinuxCPUState": o([ { json: "cmdline", js: "cmdline", typ: "" }, { json: "flags", js: "flags", typ: 0 }, @@ -3544,6 +3577,8 @@ module.exports = { "toMsgInsUpdates": toMsgInsUpdates, "msgIonoToJson": msgIonoToJson, "toMsgIono": toMsgIono, + "msgItrfToJson": msgItrfToJson, + "toMsgItrf": toMsgItrf, "msgLinuxCPUStateToJson": msgLinuxCPUStateToJson, "toMsgLinuxCPUState": toMsgLinuxCPUState, "msgLinuxMemStateToJson": msgLinuxMemStateToJson, diff --git a/sbpjson/typescript/SbpJson.ts b/sbpjson/typescript/SbpJson.ts index 07635ae625..3e81dd0639 100644 --- a/sbpjson/typescript/SbpJson.ts +++ b/sbpjson/typescript/SbpJson.ts @@ -1,6 +1,6 @@ // To parse this data: // -// import { Convert, AcqSvProfile, AlmanacCommonContent, BoundsHeader, CarrierPhase, CodeBiasesContent, CodePhaseBiasesSatSig, Doppler, EphemerisCommonContent, EstimatedHorizontalErrorEllipse, GNSSInputType, GnssCapb, GnssSignal, GpsTime, GpsTimeSEC, GridElement, GridElementNoStd, GriddedCorrectionHeader, IMUInputType, IntegritySSRHeader, 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, MsgSsrCodePhaseBiasesBounds, MsgSsrFlagHighLevel, MsgSsrFlagIonoGridPointSatLos, MsgSsrFlagIonoGridPoints, MsgSsrFlagIonoTileSatLos, MsgSsrFlagSatellites, MsgSsrFlagTropoGridPoints, MsgSsrGriddedCorrection, MsgSsrGriddedCorrectionBounds, MsgSsrOrbitClock, MsgSsrOrbitClockBounds, MsgSsrOrbitClockBoundsDegradation, MsgSsrPhaseBiases, MsgSsrSatelliteApc, MsgSsrStecCorrection, MsgSsrTileDefinition, MsgStartup, MsgStatusJournal, 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, OrbitClockBound, OrbitClockBoundDegradation, PackedObsContent, PackedOsrContent, Period, PhaseBiasesContent, STECHeader, STECResidual, STECResidualNoStd, STECSatElement, STECSatElementIntegrity, SatelliteAPC, SolutionInputType, StatusJournalItem, SubSystemReport, SvAzEl, SvID, TrackingChannelCorrelation, TrackingChannelState, TroposphericDelayCorrection, TroposphericDelayCorrectionNoStd, UARTChannel } from "./file"; +// import { Convert, AcqSvProfile, AlmanacCommonContent, BoundsHeader, CarrierPhase, CodeBiasesContent, CodePhaseBiasesSatSig, Doppler, EphemerisCommonContent, EstimatedHorizontalErrorEllipse, GNSSInputType, GnssCapb, GnssSignal, GpsTime, GpsTimeSEC, GridElement, GridElementNoStd, GriddedCorrectionHeader, IMUInputType, IntegritySSRHeader, 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, MsgItrf, 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, MsgSsrCodePhaseBiasesBounds, MsgSsrFlagHighLevel, MsgSsrFlagIonoGridPointSatLos, MsgSsrFlagIonoGridPoints, MsgSsrFlagIonoTileSatLos, MsgSsrFlagSatellites, MsgSsrFlagTropoGridPoints, MsgSsrGriddedCorrection, MsgSsrGriddedCorrectionBounds, MsgSsrOrbitClock, MsgSsrOrbitClockBounds, MsgSsrOrbitClockBoundsDegradation, MsgSsrPhaseBiases, MsgSsrSatelliteApc, MsgSsrStecCorrection, MsgSsrTileDefinition, MsgStartup, MsgStatusJournal, 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, OrbitClockBound, OrbitClockBoundDegradation, PackedObsContent, PackedOsrContent, Period, PhaseBiasesContent, STECHeader, STECResidual, STECResidualNoStd, STECSatElement, STECSatElementIntegrity, SatelliteAPC, SolutionInputType, StatusJournalItem, SubSystemReport, SvAzEl, SvID, TrackingChannelCorrelation, TrackingChannelState, TroposphericDelayCorrection, TroposphericDelayCorrectionNoStd, UARTChannel } from "./file"; // // const acqSvProfile = Convert.toAcqSvProfile(json); // const almanacCommonContent = Convert.toAlmanacCommonContent(json); @@ -86,6 +86,7 @@ // const msgInsStatus = Convert.toMsgInsStatus(json); // const msgInsUpdates = Convert.toMsgInsUpdates(json); // const msgIono = Convert.toMsgIono(json); +// const msgItrf = Convert.toMsgItrf(json); // const msgLinuxCPUState = Convert.toMsgLinuxCPUState(json); // const msgLinuxMemState = Convert.toMsgLinuxMemState(json); // const msgLinuxProcessFdCount = Convert.toMsgLinuxProcessFdCount(json); @@ -1168,6 +1169,31 @@ export interface MsgIono { t_nmct: GpsTimeSEC; } +export interface MsgItrf { + delta_X0: number; + delta_Y0: number; + delta_Z0: number; + dot_delta_X0: number; + dot_delta_Y0: number; + dot_delta_Z0: number; + dot_scale: number; + dot_theta_01: number; + dot_theta_02: number; + dot_theta_03: number; + re_t0: number; + scale: number; + sin: number; + sn: string; + sn_counter_n: number; + ssr_iod: number; + theta_01: number; + theta_02: number; + theta_03: number; + tn: string; + tn_counter_m: number; + utn: number; +} + /** * This message indicates the process state of the top 10 heaviest consumers of CPU on the * system, including a timestamp. @@ -3411,6 +3437,14 @@ export class Convert { return JSON.stringify(uncast(value, r("MsgIono")), null, 2); } + public static toMsgItrf(json: string): MsgItrf { + return cast(JSON.parse(json), r("MsgItrf")); + } + + public static msgItrfToJson(value: MsgItrf): string { + return JSON.stringify(uncast(value, r("MsgItrf")), null, 2); + } + public static toMsgLinuxCPUState(json: string): MsgLinuxCPUState { return cast(JSON.parse(json), r("MsgLinuxCPUState")); } @@ -5016,6 +5050,30 @@ const typeMap: any = { { json: "b3", js: "b3", typ: 3.14 }, { json: "t_nmct", js: "t_nmct", typ: r("GpsTimeSEC") }, ], "any"), + "MsgItrf": o([ + { json: "delta_X0", js: "delta_X0", typ: 0 }, + { json: "delta_Y0", js: "delta_Y0", typ: 0 }, + { json: "delta_Z0", js: "delta_Z0", typ: 0 }, + { json: "dot_delta_X0", js: "dot_delta_X0", typ: 0 }, + { json: "dot_delta_Y0", js: "dot_delta_Y0", typ: 0 }, + { json: "dot_delta_Z0", js: "dot_delta_Z0", typ: 0 }, + { json: "dot_scale", js: "dot_scale", typ: 0 }, + { json: "dot_theta_01", js: "dot_theta_01", typ: 0 }, + { json: "dot_theta_02", js: "dot_theta_02", typ: 0 }, + { json: "dot_theta_03", js: "dot_theta_03", typ: 0 }, + { json: "re_t0", js: "re_t0", typ: 0 }, + { json: "scale", js: "scale", typ: 0 }, + { json: "sin", js: "sin", typ: 0 }, + { json: "sn", js: "sn", typ: "" }, + { json: "sn_counter_n", js: "sn_counter_n", typ: 0 }, + { json: "ssr_iod", js: "ssr_iod", typ: 0 }, + { json: "theta_01", js: "theta_01", typ: 0 }, + { json: "theta_02", js: "theta_02", typ: 0 }, + { json: "theta_03", js: "theta_03", typ: 0 }, + { json: "tn", js: "tn", typ: "" }, + { json: "tn_counter_m", js: "tn_counter_m", typ: 0 }, + { json: "utn", js: "utn", typ: 0 }, + ], "any"), "MsgLinuxCPUState": o([ { json: "cmdline", js: "cmdline", typ: "" }, { json: "flags", js: "flags", typ: 0 }, diff --git a/spec/tests/yaml/swiftnav/sbp/navigation/test_MsgItrf.yaml b/spec/tests/yaml/swiftnav/sbp/navigation/test_MsgItrf.yaml new file mode 100644 index 0000000000..04beccb51d --- /dev/null +++ b/spec/tests/yaml/swiftnav/sbp/navigation/test_MsgItrf.yaml @@ -0,0 +1,47 @@ +description: Unit tests for swiftnav.sbp.navigation MsgItrf +generated_on: 2022-05-11 # manually generated +package: sbp.navigation +tests: + + - msg: + fields: + ssr_iod: 1 + sn_counter_n: 2 + sn: "foo\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0" + tn_counter_m: 3 + tn: "bar\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0" + sin: 4 + utn: 5 + re_t0: 6 + delta_X0: 7 + delta_Y0: 8 + delta_Z0: 9 + theta_01: 10 + theta_02: 11 + theta_03: 12 + scale: 13 + dot_delta_X0: 14 + dot_delta_Y0: 15 + dot_delta_Z0: 16 + dot_theta_01: 17 + dot_theta_02: 18 + dot_theta_03: 19 + dot_scale: 20 + module: sbp.navigation + name: MsgItrf + msg_type: '580' + raw_json: '{"ssr_iod": 1, "sn_counter_n": 2, "sn": "foo\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000", + "tn_counter_m": 3, "tn": "bar\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000", + "sin": 4, "utn": 5, "re_t0": 6, "delta_X0": 7, "delta_Y0": 8, "delta_Z0": 9, "theta_01": 10, "theta_02": 11, "theta_03": 12, "scale": 13, + "dot_delta_X0": 14, "dot_delta_Y0": 15, "dot_delta_Z0": 16, "dot_theta_01": 17, "dot_theta_02": 18, "dot_theta_03": 19, "dot_scale": 20, + "preamble": 85, "msg_type": 580, "sender": 66, "length": 124, + "payload": "AQJmb28AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA2JhcgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAEBQAGAAcAAAAIAAAACQAAAAoAAAALAAAADAAAAA0AAAAOAAAADwAAABAAAAARAAAAEgAAABMAAAAUAA==", + "crc": 32322}' + raw_packet: VUQCQgB8AQJmb28AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA2JhcgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAEBQAGAAcAAAAIAAAACQAAAAoAAAALAAAADAAAAA0AAAAOAAAADwAAABAAAAARAAAAEgAAABMAAAAUAEJ+ + sbp: + preamble: '0x55' + msg_type: '0x0244' + sender: '0x0042' + length: 124 + payload: AQJmb28AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA2JhcgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAEBQAGAAcAAAAIAAAACQAAAAoAAAALAAAADAAAAA0AAAAOAAAADwAAABAAAAARAAAAEgAAABMAAAAUAA== + crc: '0x7E42' diff --git a/spec/yaml/swiftnav/sbp/navigation.yaml b/spec/yaml/swiftnav/sbp/navigation.yaml index d06bd5458b..c92066132f 100644 --- a/spec/yaml/swiftnav/sbp/navigation.yaml +++ b/spec/yaml/swiftnav/sbp/navigation.yaml @@ -2427,3 +2427,94 @@ definitions: desc: Safe state POPL - 31: desc: Safe state ROPL + + - MSG_ITRF: + id: 0x0244 + short_desc: Reference Frame Transformation Parameter + public: False + fields: + - ssr_iod: + type: u8 + desc: SSR IOD parameter. + - sn_counter_n: + type: u8 + desc: Source-Name Counter N. + - sn: + type: string + size: 31 + desc: Source-Name + - tn_counter_m: + type: u8 + desc: Target-Name Counter M. + - tn: + type: string + size: 31 + desc: Target-Name + - sin: + type: u8 + desc: System Identification Number. + - utn: + type: u16 + desc: Utilized Transformation Message. + - re_t0: + type: u16 + units: 1 day + desc: > + Reference Epoch t0 for transformation parameter set given as + Modified Julian Day (MDJ) Number minus 44244 days. + - delta_X0: + type: s32 + units: 0.001 m + desc: Translation in X for Reference Epoch t0. + - delta_Y0: + type: s32 + units: 0.001 m + desc: Translation in Y for Reference Epoch t0. + - delta_Z0: + type: s32 + units: 0.001 m + desc: Translation in Z for Reference Epoch t0. + - theta_01: + type: s32 + units: 0.00002 " + desc: Rotation around the X-axis for Reference Epoch t0. + - theta_02: + type: s32 + units: 0.00002 " + desc: Rotation around the Y-axis for Reference Epoch t0. + - theta_03: + type: s32 + units: 0.00002 " + desc: Rotation around the Z-axis for Reference Epoch t0. + - scale: + type: s32 + units: 0.00001 ppm + desc: Scale correction for Reference Epoch t0. + - dot_delta_X0: + type: s32 + units: 0.00002 m/yr + desc: Rate of change of translation in X. + - dot_delta_Y0: + type: s32 + units: 0.00002 m/yr + desc: Rate of change of translation in Y. + - dot_delta_Z0: + type: s32 + units: 0.00002 m/yr + desc: Rate of change of translation in Z. + - dot_theta_01: + type: s32 + units: 0.0000004 "/yr + desc: Rate of change of rotation around the X-axis. + - dot_theta_02: + type: s32 + units: 0.0000004 "/yr + desc: Rate of change of rotation around the Y-axis. + - dot_theta_03: + type: s32 + units: 0.0000004 "/yr + desc: Rate of change of rotation around the Z-axis. + - dot_scale: + type: s16 + units: 0.0000002 ppm/yr + desc: Rate of change of scale correction. diff --git a/spec/yaml/swiftnav/sbp/ssr.yaml b/spec/yaml/swiftnav/sbp/ssr.yaml index a7b5bc1ca5..32a6c80959 100644 --- a/spec/yaml/swiftnav/sbp/ssr.yaml +++ b/spec/yaml/swiftnav/sbp/ssr.yaml @@ -485,6 +485,7 @@ definitions: - MSG_SSR_GRIDDED_CORRECTION_BOUNDS: id: 0x05FE short_desc: Gridded troposhere and STEC correction residuals bounds + public: False fields: - header: type: BoundsHeader @@ -645,6 +646,7 @@ definitions: Based on ETSI TS 137 355 V16.1.0 (LTE Positioning Protocol) information element GNSS-SSR-CorrectionPoints. SBP only supports gridded arrays of correction points, not lists of points. + public: False fields: - ssr_sol_id: type: u8