Piksi: Add mask satellite message.

c/include/libsbp/piksi.h

@@ -36,23 +36,23 @@
  * This is a legacy message for sending and loading a satellite
  * alamanac onto the Piksi's flash memory from the host.
  */
-#define SBP_MSG_ALMANAC       0x0069
+#define SBP_MSG_ALMANAC        0x0069
 
 
 /** Send GPS time from host (host => Piksi)
  *
  * This message sets up timing functionality using a coarse GPS
  * time estimate sent by the host.
  */
-#define SBP_MSG_SET_TIME      0x0068
+#define SBP_MSG_SET_TIME       0x0068
 
 
 /** Reset the device (host => Piksi)
  *
  * This message from the host resets the Piksi back into the
  * bootloader.
  */
-#define SBP_MSG_RESET         0x00B2
+#define SBP_MSG_RESET          0x00B2
 
 
 /** Legacy message for CW interference channel (Piksi => host)
@@ -61,7 +61,7 @@
  * CW interference channel on the SwiftNAP. This message will be
  * removed in a future release.
  */
-#define SBP_MSG_CW_RESULTS    0x00C0
+#define SBP_MSG_CW_RESULTS     0x00C0
 
 
 /** Legacy message for CW interference channel (host => Piksi)
@@ -70,15 +70,15 @@
  * the CW interference channel on the SwiftNAP. This message will
  * be removed in a future release.
  */
-#define SBP_MSG_CW_START      0x00C1
+#define SBP_MSG_CW_START       0x00C1
 
 
 /** Reset IAR filters (host => Piksi)
  *
  * This message resets either the DGNSS Kalman filters or Integer
  * Ambiguity Resolution (IAR) process.
  */
-#define SBP_MSG_RESET_FILTERS 0x0022
+#define SBP_MSG_RESET_FILTERS  0x0022
 typedef struct __attribute__((packed)) {
   u8 filter;    /**< Filter flags */
 } msg_reset_filters_t;
@@ -92,7 +92,7 @@ typedef struct __attribute__((packed)) {
  * there aren't a shared minimum number (4) of satellite
  * observations between the two.
  */
-#define SBP_MSG_INIT_BASE     0x0023
+#define SBP_MSG_INIT_BASE      0x0023
 
 
 /** State of an RTOS thread
@@ -101,7 +101,7 @@ typedef struct __attribute__((packed)) {
  * operating system (RTOS) thread usage statistics for the named
  * thread. The reported percentage values require to be normalized.
  */
-#define SBP_MSG_THREAD_STATE  0x0017
+#define SBP_MSG_THREAD_STATE   0x0017
 typedef struct __attribute__((packed)) {
   char name[20];      /**< Thread name (NULL terminated) */
   u16 cpu;           /**< Percentage cpu use for this thread. Values range from 0
@@ -155,7 +155,7 @@ typedef struct __attribute__((packed)) {
  * host access ports for embedded hosts, or other interfaces in
  * future. The reported percentage values require to be normalized.
  */
-#define SBP_MSG_UART_STATE    0x0018
+#define SBP_MSG_UART_STATE     0x0018
 typedef struct __attribute__((packed)) {
   uart_channel_t uart_a;       /**< State of UART A */
   uart_channel_t uart_b;       /**< State of UART B */
@@ -171,12 +171,24 @@ typedef struct __attribute__((packed)) {
  * ambiguities from double-differenced carrier-phase measurements
  * from satellite observations.
  */
-#define SBP_MSG_IAR_STATE     0x0019
+#define SBP_MSG_IAR_STATE      0x0019
 typedef struct __attribute__((packed)) {
   u32 num_hyps;    /**< Number of integer ambiguity hypotheses remaining */
 } msg_iar_state_t;
 
 
+/** Mask a satellite from use in Piksi subsystems
+ *
+ * This message allows setting a mask to prevent a particular satellite
+ * from being used in various Piksi subsystems.
+ */
+#define SBP_MSG_MASK_SATELLITE 0x001B
+typedef struct __attribute__((packed)) {
+  u8 mask;    /**< Mask of systems that should ignore this satellite. */
+  u8 prn;     /**< PRN for which the mask is applied */
+} msg_mask_satellite_t;
+
+
 /** \} */
 
 #endif /* LIBSBP_PIKSI_MESSAGES_H */

python/sbp/piksi.py

@@ -605,6 +605,81 @@ def to_json_dict(self):
     d.update(j)
     return d
 
+SBP_MSG_MASK_SATELLITE = 0x001B
+class MsgMaskSatellite(SBP):
+  """SBP class for message MSG_MASK_SATELLITE (0x001B).
+
+  You can have MSG_MASK_SATELLITE inherent its fields directly
+  from an inherited SBP object, or construct it inline using a dict
+  of its fields.
+
+
+  This message allows setting a mask to prevent a particular satellite
+from being used in various Piksi subsystems.
+
+
+  Parameters
+  ----------
+  sbp : SBP
+    SBP parent object to inherit from.
+  mask : int
+    Mask of systems that should ignore this satellite.
+  prn : int
+    PRN for which the mask is applied
+  sender : int
+    Optional sender ID, defaults to 0
+
+  """
+  _parser = Struct("MsgMaskSatellite",
+                   ULInt8('mask'),
+                   ULInt8('prn'),)
+
+  def __init__(self, sbp=None, **kwargs):
+    if sbp:
+      self.__dict__.update(sbp.__dict__)
+      self.from_binary(sbp.payload)
+    else:
+      super( MsgMaskSatellite, self).__init__()
+      self.msg_type = SBP_MSG_MASK_SATELLITE
+      self.sender = kwargs.pop('sender', 0)
+      self.mask = kwargs.pop('mask')
+      self.prn = kwargs.pop('prn')
+
+  def __repr__(self):
+    return fmt_repr(self)
+
+  def from_binary(self, d):
+    """Given a binary payload d, update the appropriate payload fields of
+    the message.
+
+    """
+    p = MsgMaskSatellite._parser.parse(d)
+    self.__dict__.update(dict(p.viewitems()))
+
+  def to_binary(self):
+    """Produce a framed/packed SBP message.
+
+    """
+    c = containerize(exclude_fields(self))
+    self.payload = MsgMaskSatellite._parser.build(c)
+    return self.pack()
+
+  @staticmethod
+  def from_json(s):
+    """Given a JSON-encoded string s, build a message object.
+
+    """
+    d = json.loads(s)
+    sbp = SBP.from_json_dict(d)
+    return MsgMaskSatellite(sbp)
+
+  def to_json_dict(self):
+    self.to_binary()
+    d = super( MsgMaskSatellite, self).to_json_dict()
+    j = walk_json_dict(exclude_fields(self))
+    d.update(j)
+    return d
+
 
 msg_classes = {
   0x0069: MsgAlmanac,
@@ -617,4 +692,5 @@ def to_json_dict(self):
   0x0017: MsgThreadState,
   0x0018: MsgUartState,
   0x0019: MsgIarState,
+  0x001B: MsgMaskSatellite,
 }

python/tests/sbp/test_table.py

@@ -34,7 +34,7 @@ def test_table_count():
   Test number of available messages to deserialize.
 
   """
-  number_of_messages = 52
+  number_of_messages = 53
   assert len(_SBP_TABLE) == number_of_messages
 
 def test_table_unqiue_count():

spec/yaml/swiftnav/sbp/piksi.yaml

@@ -209,3 +209,31 @@ definitions:
         - num_hyps:
             type: u32
             desc: Number of integer ambiguity hypotheses remaining
+
+ - MSG_MASK_SATELLITE:
+    id: 0x001B
+    short_desc: Mask a satellite from use in Piksi subsystems
+    desc: |
+      This message allows setting a mask to prevent a particular satellite
+      from being used in various Piksi subsystems.
+    fields:
+        - mask:
+            type: u8
+            desc: Mask of systems that should ignore this satellite.
+            fields:
+                - 2-7:
+                    desc: Reserved
+                - 1:
+                    desc: Tracking channels
+                    values:
+                        - 0: Enabled
+                        - 1: Drop this PRN if currently tracking
+                - 0:
+                    desc: Acquisition channel
+                    values:
+                        - 0: Enabled
+                        - 1: Skip this satellite on future acquisitions
+        - prn:
+            type: u8
+            desc: PRN for which the mask is applied
+