Add leap second message [OTA-148]

c/include/libsbp/cpp/message_traits.h

@@ -2688,6 +2688,41 @@ struct MessageTraits<sbp_msg_gnss_time_offset_t> {
   }
 };
 
+template <>
+struct MessageTraits<sbp_msg_gps_leap_second_t> {
+  static constexpr sbp_msg_type_t id = SbpMsgGpsLeapSecond;
+  static const sbp_msg_gps_leap_second_t &get(const sbp_msg_t &msg) {
+    return msg.gps_leap_second;
+  }
+  static sbp_msg_gps_leap_second_t &get(sbp_msg_t &msg) {
+    return msg.gps_leap_second;
+  }
+  static void to_sbp_msg(const sbp_msg_gps_leap_second_t &msg,
+                         sbp_msg_t *sbp_msg) {
+    sbp_msg->gps_leap_second = msg;
+  }
+  static sbp_msg_t to_sbp_msg(const sbp_msg_gps_leap_second_t &msg) {
+    sbp_msg_t sbp_msg;
+    sbp_msg.gps_leap_second = msg;
+    return sbp_msg;
+  }
+  static s8 send(sbp_state_t *state, u16 sender_id,
+                 const sbp_msg_gps_leap_second_t &msg, sbp_write_fn_t write) {
+    return sbp_msg_gps_leap_second_send(state, sender_id, &msg, write);
+  }
+  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                   const sbp_msg_gps_leap_second_t &msg) {
+    return sbp_msg_gps_leap_second_encode(buf, len, n_written, &msg);
+  }
+  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
+                   sbp_msg_gps_leap_second_t *msg) {
+    return sbp_msg_gps_leap_second_decode(buf, len, n_read, msg);
+  }
+  static size_t encoded_len(const sbp_msg_gps_leap_second_t &msg) {
+    return sbp_msg_gps_leap_second_encoded_len(&msg);
+  }
+};
+
 template <>
 struct MessageTraits<sbp_msg_gps_time_dep_a_t> {
   static constexpr sbp_msg_type_t id = SbpMsgGpsTimeDepA;

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

@@ -913,6 +913,12 @@ struct MessageTraits<msg_vel_ecef_cov_gnss_t> {
 };
 
 
+template<>
+struct MessageTraits<msg_gps_leap_second_t> {
+  static constexpr u16 id = 570;
+};
+
+
 template<>
 struct MessageTraits<msg_itrf_t> {
   static constexpr u16 id = 580;

c/include/libsbp/legacy/navigation.h

@@ -919,6 +919,29 @@ typedef struct SBP_ATTR_PACKED {
   u32 flags;     /**< Status flags */
 } msg_protection_level_t;
 
+/** Leap second SBP message.
+
+ *
+ * Emulates the GPS CNAV message, reserving bytes for future broadcast of the
+ * drift model parameters.
+ */
+
+typedef struct SBP_ATTR_PACKED {
+  s16 bias_coeff;      /**< Reserved. Bias coefficient of GPS time scale
+                            with respect to UTC drift model. [2^-35 s] */
+  s16 drift_coeff;     /**< Reserved. Drift coefficient of GPS time scale
+                            with respect to UTC drift model. [2^-51 s/s] */
+  s8 drift_rate_coeff; /**< Reserved. Drift rate correction coefficient of
+                            GPS time scale with respect to UTC drift model.
+                          [2^-68 s/s^2] */
+  s8 count_before;     /**< Leap second count before insertion. [s] */
+  u16 tow_s;           /**< Reserved. Drift model reference week second. [s] */
+  u16 wn;         /**< Reserved. Drift model reference week number. [weeks] */
+  u16 ref_wn;     /**< Leap second reference week number. [weeks] */
+  u8 ref_dn;      /**< Leap second reference day number. [days] */
+  s8 count_after; /**< Leap second count after insertion. [s] */
+} msg_gps_leap_second_t;
+
 typedef struct SBP_ATTR_PACKED {
   u8 ssr_iod;      /**< SSR IOD parameter. */
   u8 sn_counter_n; /**< Source-Name Counter N. */

c/include/libsbp/navigation_macros.h

@@ -1736,6 +1736,13 @@
  */
 #define SBP_MSG_PROTECTION_LEVEL_ENCODED_LEN 76u
 
+#define SBP_MSG_GPS_LEAP_SECOND 0x023A
+/**
+ * Encoded length of sbp_msg_gps_leap_second_t (V4 API) and
+ * msg_gps_leap_second_t (legacy API)
+ */
+#define SBP_MSG_GPS_LEAP_SECOND_ENCODED_LEN 14u
+
 #define SBP_MSG_ITRF 0x0244
 /**
  * The maximum number of items that can be stored in sbp_msg_itrf_t::sn (V4 API)

c/include/libsbp/sbp_msg_type.h

@@ -127,6 +127,7 @@ typedef enum {
   SbpMsgGloBiases = SBP_MSG_GLO_BIASES,
   SbpMsgGnssCapb = SBP_MSG_GNSS_CAPB,
   SbpMsgGnssTimeOffset = SBP_MSG_GNSS_TIME_OFFSET,
+  SbpMsgGpsLeapSecond = SBP_MSG_GPS_LEAP_SECOND,
   SbpMsgGpsTimeDepA = SBP_MSG_GPS_TIME_DEP_A,
   SbpMsgGpsTimeGnss = SBP_MSG_GPS_TIME_GNSS,
   SbpMsgGpsTime = SBP_MSG_GPS_TIME,

c/include/libsbp/v4/navigation.h

@@ -26,6 +26,7 @@
 #include <libsbp/v4/navigation/MSG_BASELINE_NED_DEP_A.h>
 #include <libsbp/v4/navigation/MSG_DOPS.h>
 #include <libsbp/v4/navigation/MSG_DOPS_DEP_A.h>
+#include <libsbp/v4/navigation/MSG_GPS_LEAP_SECOND.h>
 #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>

c/include/libsbp/v4/navigation/MSG_GPS_LEAP_SECOND.h

@@ -0,0 +1,223 @@
+/*
+ * 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_GPS_LEAP_SECOND_H
+#define LIBSBP_V4_NAVIGATION_MSG_GPS_LEAP_SECOND_H
+
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <libsbp/common.h>
+#include <libsbp/navigation_macros.h>
+#include <libsbp/v4/string/sbp_string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+ *
+ * SBP_MSG_GPS_LEAP_SECOND
+ *
+ *****************************************************************************/
+/** Leap second SBP message.
+
+ *
+* Emulates the GPS CNAV message, reserving bytes for future broadcast of the
+drift model parameters.
+ */
+typedef struct {
+  /**
+   * Reserved. Bias coefficient of GPS time scale with respect to UTC drift
+   * model. [2^-35 s]
+   */
+  s16 bias_coeff;
+
+  /**
+   * Reserved. Drift coefficient of GPS time scale with respect to UTC drift
+   * model. [2^-51 s/s]
+   */
+  s16 drift_coeff;
+
+  /**
+   * Reserved. Drift rate correction coefficient of GPS time scale with respect
+   * to UTC drift model. [2^-68 s/s^2]
+   */
+  s8 drift_rate_coeff;
+
+  /**
+   * Leap second count before insertion. [s]
+   */
+  s8 count_before;
+
+  /**
+   * Reserved. Drift model reference week second. [s]
+   */
+  u16 tow_s;
+
+  /**
+   * Reserved. Drift model reference week number. [weeks]
+   */
+  u16 wn;
+
+  /**
+   * Leap second reference week number. [weeks]
+   */
+  u16 ref_wn;
+
+  /**
+   * Leap second reference day number. [days]
+   */
+  u8 ref_dn;
+
+  /**
+   * Leap second count after insertion. [s]
+   */
+  s8 count_after;
+} sbp_msg_gps_leap_second_t;
+
+/**
+ * Get encoded size of an instance of sbp_msg_gps_leap_second_t
+ *
+ * @param msg sbp_msg_gps_leap_second_t instance
+ * @return Length of on-wire representation
+ */
+static inline size_t sbp_msg_gps_leap_second_encoded_len(
+    const sbp_msg_gps_leap_second_t *msg) {
+  (void)msg;
+  return SBP_MSG_GPS_LEAP_SECOND_ENCODED_LEN;
+}
+
+/**
+ * Encode an instance of sbp_msg_gps_leap_second_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_gps_leap_second_t to encode
+ * @return SBP_OK on success, or other libsbp error code
+ */
+SBP_EXPORT s8
+sbp_msg_gps_leap_second_encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                               const sbp_msg_gps_leap_second_t *msg);
+
+/**
+ * Decode an instance of sbp_msg_gps_leap_second_t from wire representation
+ *
+ * This function decodes the wire representation of a sbp_msg_gps_leap_second_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_gps_leap_second_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_gps_leap_second_decode(const uint8_t *buf, uint8_t len,
+                                             uint8_t *n_read,
+                                             sbp_msg_gps_leap_second_t *msg);
+/**
+ * Send an instance of sbp_msg_gps_leap_second_t with the given write function
+ *
+ * An equivalent of #sbp_message_send which operates specifically on
+ * sbp_msg_gps_leap_second_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_gps_leap_second_send(sbp_state_t *s, u16 sender_id,
+                                           const sbp_msg_gps_leap_second_t *msg,
+                                           sbp_write_fn_t write);
+
+/**
+ * Compare two instances of sbp_msg_gps_leap_second_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_gps_leap_second_t instance
+ * @param b sbp_msg_gps_leap_second_t instance
+ * @return 0, <0, >0
+ */
+SBP_EXPORT int sbp_msg_gps_leap_second_cmp(const sbp_msg_gps_leap_second_t *a,
+                                           const sbp_msg_gps_leap_second_t *b);
+
+#ifdef __cplusplus
+}
+
+static inline bool operator==(const sbp_msg_gps_leap_second_t &lhs,
+                              const sbp_msg_gps_leap_second_t &rhs) {
+  return sbp_msg_gps_leap_second_cmp(&lhs, &rhs) == 0;
+}
+
+static inline bool operator!=(const sbp_msg_gps_leap_second_t &lhs,
+                              const sbp_msg_gps_leap_second_t &rhs) {
+  return sbp_msg_gps_leap_second_cmp(&lhs, &rhs) != 0;
+}
+
+static inline bool operator<(const sbp_msg_gps_leap_second_t &lhs,
+                             const sbp_msg_gps_leap_second_t &rhs) {
+  return sbp_msg_gps_leap_second_cmp(&lhs, &rhs) < 0;
+}
+
+static inline bool operator<=(const sbp_msg_gps_leap_second_t &lhs,
+                              const sbp_msg_gps_leap_second_t &rhs) {
+  return sbp_msg_gps_leap_second_cmp(&lhs, &rhs) <= 0;
+}
+
+static inline bool operator>(const sbp_msg_gps_leap_second_t &lhs,
+                             const sbp_msg_gps_leap_second_t &rhs) {
+  return sbp_msg_gps_leap_second_cmp(&lhs, &rhs) > 0;
+}
+
+static inline bool operator>=(const sbp_msg_gps_leap_second_t &lhs,
+                              const sbp_msg_gps_leap_second_t &rhs) {
+  return sbp_msg_gps_leap_second_cmp(&lhs, &rhs) >= 0;
+}
+
+#endif  // ifdef __cplusplus
+
+#endif /* LIBSBP_V4_NAVIGATION_MSG_GPS_LEAP_SECOND_H */

c/include/libsbp/v4/sbp_msg.h

@@ -133,6 +133,7 @@ typedef union {
   sbp_msg_glo_biases_t glo_biases;
   sbp_msg_gnss_capb_t gnss_capb;
   sbp_msg_gnss_time_offset_t gnss_time_offset;
+  sbp_msg_gps_leap_second_t gps_leap_second;
   sbp_msg_gps_time_dep_a_t gps_time_dep_a;
   sbp_msg_gps_time_gnss_t gps_time_gnss;
   sbp_msg_gps_time_t gps_time;
@@ -508,6 +509,9 @@ static inline s8 sbp_message_encode(uint8_t *buf, uint8_t len,
     case SbpMsgGnssTimeOffset:
       return sbp_msg_gnss_time_offset_encode(buf, len, n_written,
                                              &msg->gnss_time_offset);
+    case SbpMsgGpsLeapSecond:
+      return sbp_msg_gps_leap_second_encode(buf, len, n_written,
+                                            &msg->gps_leap_second);
     case SbpMsgGpsTimeDepA:
       return sbp_msg_gps_time_dep_a_encode(buf, len, n_written,
                                            &msg->gps_time_dep_a);
@@ -1119,6 +1123,9 @@ static inline s8 sbp_message_decode(const uint8_t *buf, uint8_t len,
     case SbpMsgGnssTimeOffset:
       return sbp_msg_gnss_time_offset_decode(buf, len, n_read,
                                              &msg->gnss_time_offset);
+    case SbpMsgGpsLeapSecond:
+      return sbp_msg_gps_leap_second_decode(buf, len, n_read,
+                                            &msg->gps_leap_second);
     case SbpMsgGpsTimeDepA:
       return sbp_msg_gps_time_dep_a_decode(buf, len, n_read,
                                            &msg->gps_time_dep_a);
@@ -1672,6 +1679,8 @@ static inline size_t sbp_message_encoded_len(sbp_msg_type_t msg_type,
       return sbp_msg_gnss_capb_encoded_len(&msg->gnss_capb);
     case SbpMsgGnssTimeOffset:
       return sbp_msg_gnss_time_offset_encoded_len(&msg->gnss_time_offset);
+    case SbpMsgGpsLeapSecond:
+      return sbp_msg_gps_leap_second_encoded_len(&msg->gps_leap_second);
     case SbpMsgGpsTimeDepA:
       return sbp_msg_gps_time_dep_a_encoded_len(&msg->gps_time_dep_a);
     case SbpMsgGpsTimeGnss:
@@ -2205,6 +2214,9 @@ static inline int sbp_message_cmp(sbp_msg_type_t msg_type, const sbp_msg_t *a,
     case SbpMsgGnssTimeOffset:
       return sbp_msg_gnss_time_offset_cmp(&a->gnss_time_offset,
                                           &b->gnss_time_offset);
+    case SbpMsgGpsLeapSecond:
+      return sbp_msg_gps_leap_second_cmp(&a->gps_leap_second,
+                                         &b->gps_leap_second);
     case SbpMsgGpsTimeDepA:
       return sbp_msg_gps_time_dep_a_cmp(&a->gps_time_dep_a, &b->gps_time_dep_a);
     case SbpMsgGpsTimeGnss: