Add new SSR Satellite APC and Tile Definition message [PC-116]

c/include/libsbp/cpp/message_traits.h

@@ -6621,6 +6621,43 @@ struct MessageTraits<sbp_msg_ssr_phase_biases_t> {
   }
 };
 
+template <>
+struct MessageTraits<sbp_msg_ssr_satellite_apc_dep_t> {
+  static constexpr sbp_msg_type_t id = SbpMsgSsrSatelliteApcDep;
+  static constexpr const char *name = "MSG_SSR_SATELLITE_APC_DEP";
+  static const sbp_msg_ssr_satellite_apc_dep_t &get(const sbp_msg_t &msg) {
+    return msg.ssr_satellite_apc_dep;
+  }
+  static sbp_msg_ssr_satellite_apc_dep_t &get(sbp_msg_t &msg) {
+    return msg.ssr_satellite_apc_dep;
+  }
+  static void to_sbp_msg(const sbp_msg_ssr_satellite_apc_dep_t &msg,
+                         sbp_msg_t *sbp_msg) {
+    sbp_msg->ssr_satellite_apc_dep = msg;
+  }
+  static sbp_msg_t to_sbp_msg(const sbp_msg_ssr_satellite_apc_dep_t &msg) {
+    sbp_msg_t sbp_msg;
+    sbp_msg.ssr_satellite_apc_dep = msg;
+    return sbp_msg;
+  }
+  static s8 send(sbp_state_t *state, u16 sender_id,
+                 const sbp_msg_ssr_satellite_apc_dep_t &msg,
+                 sbp_write_fn_t write) {
+    return sbp_msg_ssr_satellite_apc_dep_send(state, sender_id, &msg, write);
+  }
+  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                   const sbp_msg_ssr_satellite_apc_dep_t &msg) {
+    return sbp_msg_ssr_satellite_apc_dep_encode(buf, len, n_written, &msg);
+  }
+  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
+                   sbp_msg_ssr_satellite_apc_dep_t *msg) {
+    return sbp_msg_ssr_satellite_apc_dep_decode(buf, len, n_read, msg);
+  }
+  static size_t encoded_len(const sbp_msg_ssr_satellite_apc_dep_t &msg) {
+    return sbp_msg_ssr_satellite_apc_dep_encoded_len(&msg);
+  }
+};
+
 template <>
 struct MessageTraits<sbp_msg_ssr_satellite_apc_t> {
   static constexpr sbp_msg_type_t id = SbpMsgSsrSatelliteApc;
@@ -6770,39 +6807,78 @@ struct MessageTraits<sbp_msg_ssr_stec_correction_t> {
 };
 
 template <>
-struct MessageTraits<sbp_msg_ssr_tile_definition_dep_t> {
-  static constexpr sbp_msg_type_t id = SbpMsgSsrTileDefinitionDep;
-  static constexpr const char *name = "MSG_SSR_TILE_DEFINITION_DEP";
-  static const sbp_msg_ssr_tile_definition_dep_t &get(const sbp_msg_t &msg) {
-    return msg.ssr_tile_definition_dep;
+struct MessageTraits<sbp_msg_ssr_tile_definition_dep_a_t> {
+  static constexpr sbp_msg_type_t id = SbpMsgSsrTileDefinitionDepA;
+  static constexpr const char *name = "MSG_SSR_TILE_DEFINITION_DEP_A";
+  static const sbp_msg_ssr_tile_definition_dep_a_t &get(const sbp_msg_t &msg) {
+    return msg.ssr_tile_definition_dep_a;
+  }
+  static sbp_msg_ssr_tile_definition_dep_a_t &get(sbp_msg_t &msg) {
+    return msg.ssr_tile_definition_dep_a;
+  }
+  static void to_sbp_msg(const sbp_msg_ssr_tile_definition_dep_a_t &msg,
+                         sbp_msg_t *sbp_msg) {
+    sbp_msg->ssr_tile_definition_dep_a = msg;
+  }
+  static sbp_msg_t to_sbp_msg(const sbp_msg_ssr_tile_definition_dep_a_t &msg) {
+    sbp_msg_t sbp_msg;
+    sbp_msg.ssr_tile_definition_dep_a = msg;
+    return sbp_msg;
+  }
+  static s8 send(sbp_state_t *state, u16 sender_id,
+                 const sbp_msg_ssr_tile_definition_dep_a_t &msg,
+                 sbp_write_fn_t write) {
+    return sbp_msg_ssr_tile_definition_dep_a_send(state, sender_id, &msg,
+                                                  write);
+  }
+  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                   const sbp_msg_ssr_tile_definition_dep_a_t &msg) {
+    return sbp_msg_ssr_tile_definition_dep_a_encode(buf, len, n_written, &msg);
+  }
+  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
+                   sbp_msg_ssr_tile_definition_dep_a_t *msg) {
+    return sbp_msg_ssr_tile_definition_dep_a_decode(buf, len, n_read, msg);
+  }
+  static size_t encoded_len(const sbp_msg_ssr_tile_definition_dep_a_t &msg) {
+    return sbp_msg_ssr_tile_definition_dep_a_encoded_len(&msg);
+  }
+};
+
+template <>
+struct MessageTraits<sbp_msg_ssr_tile_definition_dep_b_t> {
+  static constexpr sbp_msg_type_t id = SbpMsgSsrTileDefinitionDepB;
+  static constexpr const char *name = "MSG_SSR_TILE_DEFINITION_DEP_B";
+  static const sbp_msg_ssr_tile_definition_dep_b_t &get(const sbp_msg_t &msg) {
+    return msg.ssr_tile_definition_dep_b;
   }
-  static sbp_msg_ssr_tile_definition_dep_t &get(sbp_msg_t &msg) {
-    return msg.ssr_tile_definition_dep;
+  static sbp_msg_ssr_tile_definition_dep_b_t &get(sbp_msg_t &msg) {
+    return msg.ssr_tile_definition_dep_b;
   }
-  static void to_sbp_msg(const sbp_msg_ssr_tile_definition_dep_t &msg,
+  static void to_sbp_msg(const sbp_msg_ssr_tile_definition_dep_b_t &msg,
                          sbp_msg_t *sbp_msg) {
-    sbp_msg->ssr_tile_definition_dep = msg;
+    sbp_msg->ssr_tile_definition_dep_b = msg;
   }
-  static sbp_msg_t to_sbp_msg(const sbp_msg_ssr_tile_definition_dep_t &msg) {
+  static sbp_msg_t to_sbp_msg(const sbp_msg_ssr_tile_definition_dep_b_t &msg) {
     sbp_msg_t sbp_msg;
-    sbp_msg.ssr_tile_definition_dep = msg;
+    sbp_msg.ssr_tile_definition_dep_b = msg;
     return sbp_msg;
   }
   static s8 send(sbp_state_t *state, u16 sender_id,
-                 const sbp_msg_ssr_tile_definition_dep_t &msg,
+                 const sbp_msg_ssr_tile_definition_dep_b_t &msg,
                  sbp_write_fn_t write) {
-    return sbp_msg_ssr_tile_definition_dep_send(state, sender_id, &msg, write);
+    return sbp_msg_ssr_tile_definition_dep_b_send(state, sender_id, &msg,
+                                                  write);
   }
   static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
-                   const sbp_msg_ssr_tile_definition_dep_t &msg) {
-    return sbp_msg_ssr_tile_definition_dep_encode(buf, len, n_written, &msg);
+                   const sbp_msg_ssr_tile_definition_dep_b_t &msg) {
+    return sbp_msg_ssr_tile_definition_dep_b_encode(buf, len, n_written, &msg);
   }
   static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
-                   sbp_msg_ssr_tile_definition_dep_t *msg) {
-    return sbp_msg_ssr_tile_definition_dep_decode(buf, len, n_read, msg);
+                   sbp_msg_ssr_tile_definition_dep_b_t *msg) {
+    return sbp_msg_ssr_tile_definition_dep_b_decode(buf, len, n_read, msg);
   }
-  static size_t encoded_len(const sbp_msg_ssr_tile_definition_dep_t &msg) {
-    return sbp_msg_ssr_tile_definition_dep_encoded_len(&msg);
+  static size_t encoded_len(const sbp_msg_ssr_tile_definition_dep_b_t &msg) {
+    return sbp_msg_ssr_tile_definition_dep_b_encoded_len(&msg);
   }
 };
 

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

@@ -1011,17 +1011,23 @@ struct MessageTraits<msg_ssr_grid_definition_dep_a_t> {
 
 
 template<>
-struct MessageTraits<msg_ssr_tile_definition_dep_t> {
+struct MessageTraits<msg_ssr_tile_definition_dep_a_t> {
   static constexpr u16 id = 1526;
 };
 
 
 template<>
-struct MessageTraits<msg_ssr_tile_definition_t> {
+struct MessageTraits<msg_ssr_tile_definition_dep_b_t> {
   static constexpr u16 id = 1527;
 };
 
 
+template<>
+struct MessageTraits<msg_ssr_tile_definition_t> {
+  static constexpr u16 id = 1528;
+};
+
+
 template<>
 struct MessageTraits<msg_ssr_gridded_correction_dep_a_t> {
   static constexpr u16 id = 1530;
@@ -1053,11 +1059,17 @@ struct MessageTraits<msg_ssr_gridded_correction_bounds_t> {
 
 
 template<>
-struct MessageTraits<msg_ssr_satellite_apc_t> {
+struct MessageTraits<msg_ssr_satellite_apc_dep_t> {
   static constexpr u16 id = 1540;
 };
 
 
+template<>
+struct MessageTraits<msg_ssr_satellite_apc_t> {
+  static constexpr u16 id = 1541;
+};
+
+
 template<>
 struct MessageTraits<msg_osr_t> {
   static constexpr u16 id = 1600;

c/include/libsbp/legacy/ssr.h

@@ -431,7 +431,7 @@ typedef struct SBP_ATTR_PACKED {
                           See GNSS-SSR-ArrayOfCorrectionPoints field
                           bitmaskOfGrids but note the definition of the
                           bits is inverted. */
-} msg_ssr_tile_definition_dep_t;
+} msg_ssr_tile_definition_dep_a_t;
 
 /** Definition of a SSR atmospheric correction tile.
 
@@ -507,6 +507,84 @@ typedef struct SBP_ATTR_PACKED {
                           See GNSS-SSR-ArrayOfCorrectionPoints field
                           bitmaskOfGrids but note the definition of the
                           bits is inverted. */
+} msg_ssr_tile_definition_dep_b_t;
+
+/** Definition of a SSR atmospheric correction tile.
+
+ *
+ * Provides the correction point coordinates for the atmospheric correction
+ * values in the MSG_SSR_STEC_CORRECTION and MSG_SSR_GRIDDED_CORRECTION
+ * messages.
+ *
+ * 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.
+ */
+
+typedef struct SBP_ATTR_PACKED {
+  gps_time_sec_t time; /**< GNSS reference time of the
+                            correction */
+  u8 update_interval;  /**< Update interval between consecutive corrections.
+                            Encoded following RTCM DF391 specification. */
+  u8 sol_id;           /**< SSR Solution ID. Similar to RTCM DF415. */
+  u8 iod_atmo;         /**< IOD of the SSR atmospheric correction. */
+  u16 tile_set_id;     /**< Unique identifier of the tile set this tile
+                            belongs to. */
+  u16 tile_id;         /**< Unique identifier of this tile in the tile set.
+                            See GNSS-SSR-ArrayOfCorrectionPoints field
+                            correctionPointSetID. */
+  s16 corner_nw_lat;   /**< North-West corner correction point latitude.
+
+                            The relation between the latitude X in the
+                            range [-90, 90] and the coded number N is:  N =
+                            floor((X / 90) * 2^14)
+
+                            See GNSS-SSR-ArrayOfCorrectionPoints field
+                            referencePointLatitude. [encoded degrees] */
+  s16 corner_nw_lon;   /**< North-West corner correction point longitude.
+
+                            The relation between the longitude X in the
+                            range [-180, 180] and the coded number N is: N
+                            = floor((X / 180) * 2^15)
+
+                            See GNSS-SSR-ArrayOfCorrectionPoints field
+                            referencePointLongitude. [encoded degrees] */
+  u16 spacing_lat;     /**< Spacing of the correction points in the
+                            latitude direction.
+
+                            See GNSS-SSR-ArrayOfCorrectionPoints field
+                            stepOfLatitude. [0.01 degrees] */
+  u16 spacing_lon;     /**< Spacing of the correction points in the
+                            longitude direction.
+
+                            See GNSS-SSR-ArrayOfCorrectionPoints field
+                            stepOfLongitude. [0.01 degrees] */
+  u16 rows;            /**< Number of steps in the latitude direction.
+
+                            See GNSS-SSR-ArrayOfCorrectionPoints field
+                            numberOfStepsLatitude. */
+  u16 cols;            /**< Number of steps in the longitude direction.
+
+                            See GNSS-SSR-ArrayOfCorrectionPoints field
+                            numberOfStepsLongitude. */
+  u64 bitmask;         /**< Specifies the absence of correction data at the
+                            correction points in the array (grid).
+
+                            Only the first rows * cols bits are used, and
+                            if a specific bit is enabled (set to 1), the
+                            correction is not available. If there are more
+                            than 64 correction points the remaining
+                            corrections are always available.
+
+                            The correction points are packed by rows,
+                            starting with the northwest corner of the array
+                            (top-left on a north oriented map), with each
+                            row spanning west to east, ending with the
+                            southeast corner of the array.
+
+                            See GNSS-SSR-ArrayOfCorrectionPoints field
+                            bitmaskOfGrids but note the definition of the
+                            bits is inverted. */
 } msg_ssr_tile_definition_t;
 
 /** Antenna phase center correction
@@ -531,6 +609,19 @@ typedef struct SBP_ATTR_PACKED {
 
 typedef struct SBP_ATTR_PACKED {
   satellite_apc_t apc[0]; /**< Satellite antenna phase center corrections */
+} msg_ssr_satellite_apc_dep_t;
+
+typedef struct SBP_ATTR_PACKED {
+  gps_time_sec_t time;    /**< GNSS reference time of the
+                               correction */
+  u8 update_interval;     /**< Update interval between consecutive corrections.
+                               Encoded following RTCM DF391 specification. */
+  u8 sol_id;              /**< SSR Solution ID. Similar to RTCM DF415. */
+  u8 iod_ssr;             /**< IOD of the SSR correction. A change of Issue Of
+                               Data SSR is used to indicate a change in the SSR
+                               generating configuration */
+  satellite_apc_t apc[0]; /**< Satellite antenna phase center
+                               corrections */
 } msg_ssr_satellite_apc_t;
 
 typedef struct SBP_ATTR_PACKED {

c/include/libsbp/sbp_msg_type.h

@@ -235,11 +235,13 @@ typedef enum {
   SbpMsgSsrOrbitClockDepA = SBP_MSG_SSR_ORBIT_CLOCK_DEP_A,
   SbpMsgSsrOrbitClock = SBP_MSG_SSR_ORBIT_CLOCK,
   SbpMsgSsrPhaseBiases = SBP_MSG_SSR_PHASE_BIASES,
+  SbpMsgSsrSatelliteApcDep = SBP_MSG_SSR_SATELLITE_APC_DEP,
   SbpMsgSsrSatelliteApc = SBP_MSG_SSR_SATELLITE_APC,
   SbpMsgSsrStecCorrectionDepA = SBP_MSG_SSR_STEC_CORRECTION_DEP_A,
   SbpMsgSsrStecCorrectionDep = SBP_MSG_SSR_STEC_CORRECTION_DEP,
   SbpMsgSsrStecCorrection = SBP_MSG_SSR_STEC_CORRECTION,
-  SbpMsgSsrTileDefinitionDep = SBP_MSG_SSR_TILE_DEFINITION_DEP,
+  SbpMsgSsrTileDefinitionDepA = SBP_MSG_SSR_TILE_DEFINITION_DEP_A,
+  SbpMsgSsrTileDefinitionDepB = SBP_MSG_SSR_TILE_DEFINITION_DEP_B,
   SbpMsgSsrTileDefinition = SBP_MSG_SSR_TILE_DEFINITION,
   SbpMsgStartup = SBP_MSG_STARTUP,
   SbpMsgStatusJournal = SBP_MSG_STATUS_JOURNAL,

c/include/libsbp/ssr_macros.h

@@ -240,19 +240,26 @@
  */
 #define SBP_MSG_SSR_GRIDDED_CORRECTION_BOUNDS_ENCODED_OVERHEAD 27u
 
-#define SBP_MSG_SSR_TILE_DEFINITION_DEP 0x05F6
+#define SBP_MSG_SSR_TILE_DEFINITION_DEP_A 0x05F6
 /**
- * Encoded length of sbp_msg_ssr_tile_definition_dep_t (V4 API) and
- * msg_ssr_tile_definition_dep_t (legacy API)
+ * Encoded length of sbp_msg_ssr_tile_definition_dep_a_t (V4 API) and
+ * msg_ssr_tile_definition_dep_a_t (legacy API)
  */
-#define SBP_MSG_SSR_TILE_DEFINITION_DEP_ENCODED_LEN 24u
+#define SBP_MSG_SSR_TILE_DEFINITION_DEP_A_ENCODED_LEN 24u
 
-#define SBP_MSG_SSR_TILE_DEFINITION 0x05F7
+#define SBP_MSG_SSR_TILE_DEFINITION_DEP_B 0x05F7
+/**
+ * Encoded length of sbp_msg_ssr_tile_definition_dep_b_t (V4 API) and
+ * msg_ssr_tile_definition_dep_b_t (legacy API)
+ */
+#define SBP_MSG_SSR_TILE_DEFINITION_DEP_B_ENCODED_LEN 25u
+
+#define SBP_MSG_SSR_TILE_DEFINITION 0x05F8
 /**
  * Encoded length of sbp_msg_ssr_tile_definition_t (V4 API) and
  * msg_ssr_tile_definition_t (legacy API)
  */
-#define SBP_MSG_SSR_TILE_DEFINITION_ENCODED_LEN 25u
+#define SBP_MSG_SSR_TILE_DEFINITION_ENCODED_LEN 33u
 
 #define SBP_SATELLITEAPC_SATELLITE_TYPE_MASK (0x1fu)
 #define SBP_SATELLITEAPC_SATELLITE_TYPE_SHIFT (0u)
@@ -307,7 +314,31 @@
  */
 #define SBP_SATELLITE_APC_ENCODED_LEN 32u
 
-#define SBP_MSG_SSR_SATELLITE_APC 0x0604
+#define SBP_MSG_SSR_SATELLITE_APC_DEP 0x0604
+/**
+ * The maximum number of items that can be stored in
+ * sbp_msg_ssr_satellite_apc_dep_t::apc (V4 API) or
+ * msg_ssr_satellite_apc_dep_t::apc (legacy API) before the maximum SBP message
+ * size is exceeded
+ */
+#define SBP_MSG_SSR_SATELLITE_APC_DEP_APC_MAX 7u
+
+/**
+ * Encoded length of sbp_msg_ssr_satellite_apc_dep_t (V4 API) and
+ * msg_ssr_satellite_apc_dep_t (legacy API)
+ *
+ * This type is not fixed size and an instance of this message may be longer
+ * than the value indicated by this symbol. Users of the V4 API should call
+ * #sbp_msg_ssr_satellite_apc_dep_encoded_len to determine the actual size of an
+ * instance of this message. Users of the legacy API are required to track the
+ * encoded message length when interacting with the legacy type.
+ *
+ * See the documentation for libsbp for more details regarding the message
+ * structure and its variable length component(s)
+ */
+#define SBP_MSG_SSR_SATELLITE_APC_DEP_ENCODED_OVERHEAD 0u
+
+#define SBP_MSG_SSR_SATELLITE_APC 0x0605
 /**
  * The maximum number of items that can be stored in
  * sbp_msg_ssr_satellite_apc_t::apc (V4 API) or msg_ssr_satellite_apc_t::apc
@@ -328,7 +359,7 @@
  * See the documentation for libsbp for more details regarding the message
  * structure and its variable length component(s)
  */
-#define SBP_MSG_SSR_SATELLITE_APC_ENCODED_OVERHEAD 0u
+#define SBP_MSG_SSR_SATELLITE_APC_ENCODED_OVERHEAD 9u
 
 #define SBP_MSG_SSR_ORBIT_CLOCK_DEP_A 0x05DC
 /**