Add transformation parameter message [OTA-149]

c/include/libsbp/cpp/message_traits.h

@@ -3199,6 +3199,36 @@ struct MessageTraits<sbp_msg_iono_t> {
   }
 };
 
+template <>
+struct MessageTraits<sbp_msg_itrf_t> {
+  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<sbp_msg_linux_cpu_state_dep_a_t> {
   static constexpr sbp_msg_type_t id = SbpMsgLinuxCpuStateDepA;

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

@@ -913,6 +913,12 @@ struct MessageTraits<msg_vel_ecef_cov_gnss_t> {
 };
 
 
+template<>
+struct MessageTraits<msg_itrf_t> {
+  static constexpr u16 id = 580;
+};
+
+
 template<>
 struct MessageTraits<msg_ndb_event_t> {
   static constexpr u16 id = 1024;

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

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 */

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,

c/include/libsbp/v4/navigation.h

@@ -29,6 +29,7 @@
 #include <libsbp/v4/navigation/MSG_GPS_TIME.h>
 #include <libsbp/v4/navigation/MSG_GPS_TIME_DEP_A.h>
 #include <libsbp/v4/navigation/MSG_GPS_TIME_GNSS.h>
+#include <libsbp/v4/navigation/MSG_ITRF.h>
 #include <libsbp/v4/navigation/MSG_POS_ECEF.h>
 #include <libsbp/v4/navigation/MSG_POS_ECEF_COV.h>
 #include <libsbp/v4/navigation/MSG_POS_ECEF_COV_GNSS.h>