diff --git a/Makefile b/Makefile index 7d57c3621d..f3cb265a48 100644 --- a/Makefile +++ b/Makefile @@ -49,6 +49,7 @@ help: @echo " html to make all HTML language docs" @echo " pdf to make SBP LaTeX datasheet" @echo " python to make Python bindings" + @echo " pythonNG to make Python (JIT) bindings" @echo " haskell to make Haskell bindings" @echo " java to make Java bindings" @echo " protobuf to make Protocol Buffer bindings" @@ -56,7 +57,7 @@ help: @echo " test to run all tests" @echo -all: c python javascript java docs haskell protobuf +all: c python pythonNG javascript java docs haskell protobuf docs: verify-prereq-docs pdf html c: deps-c gen-c test-c diff --git a/c/include/libsbp/piksi.h b/c/include/libsbp/piksi.h index 5c745eacc6..d223eff54c 100644 --- a/c/include/libsbp/piksi.h +++ b/c/include/libsbp/piksi.h @@ -95,15 +95,11 @@ typedef struct SBP_ATTR_PACKED { } msg_reset_filters_t; -/** Initialize IAR from known baseline (host => device) +/** Deprecated * - * This message initializes the integer ambiguity resolution (IAR) - * process on the Piksi to use an assumed baseline position between - * the base station and rover receivers. Warns via MSG_PRINT if - * there aren't a shared minimum number (4) of satellite - * observations between the two. +* Deprecated */ -#define SBP_MSG_INIT_BASE 0x0023 +#define SBP_MSG_INIT_BASE_DEP 0x0023 /** State of an RTOS thread diff --git a/docs/sbp.pdf b/docs/sbp.pdf index bdbbf24d8c..c6af1a03ac 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 392e259cd5..a29635f3b4 100644 --- a/haskell/src/SwiftNav/SBP/Msg.hs +++ b/haskell/src/SwiftNav/SBP/Msg.hs @@ -138,7 +138,7 @@ data SBPMsg = | SBPMsgIarState MsgIarState Msg | SBPMsgImuAux MsgImuAux Msg | SBPMsgImuRaw MsgImuRaw Msg - | SBPMsgInitBase MsgInitBase Msg + | SBPMsgInitBaseDep MsgInitBaseDep Msg | SBPMsgInsStatus MsgInsStatus Msg | SBPMsgIono MsgIono Msg | SBPMsgLinuxCpuState MsgLinuxCpuState Msg @@ -324,7 +324,7 @@ instance Binary SBPMsg where | _msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgImuAux = SBPMsgImuAux (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgImuRaw = SBPMsgImuRaw (decode (fromStrict (unBytes _msgSBPPayload))) m - | _msgSBPType == msgInitBase = SBPMsgInitBase (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgInitBaseDep = SBPMsgInitBaseDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgInsStatus = SBPMsgInsStatus (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgIono = SBPMsgIono (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxCpuState = SBPMsgLinuxCpuState (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -502,7 +502,7 @@ instance Binary SBPMsg where encoder (SBPMsgIarState _ m) = put m encoder (SBPMsgImuAux _ m) = put m encoder (SBPMsgImuRaw _ m) = put m - encoder (SBPMsgInitBase _ m) = put m + encoder (SBPMsgInitBaseDep _ m) = put m encoder (SBPMsgInsStatus _ m) = put m encoder (SBPMsgIono _ m) = put m encoder (SBPMsgLinuxCpuState _ m) = put m @@ -684,7 +684,7 @@ instance FromJSON SBPMsg where | msgType == msgIarState = SBPMsgIarState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgImuAux = SBPMsgImuAux <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgImuRaw = SBPMsgImuRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj - | msgType == msgInitBase = SBPMsgInitBase <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgInitBaseDep = SBPMsgInitBaseDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgInsStatus = SBPMsgInsStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgIono = SBPMsgIono <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxCpuState = SBPMsgLinuxCpuState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -867,7 +867,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgIarState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgImuAux n m) = toJSON n <<>> toJSON m toJSON (SBPMsgImuRaw n m) = toJSON n <<>> toJSON m - toJSON (SBPMsgInitBase _ m) = toJSON m + toJSON (SBPMsgInitBaseDep _ m) = toJSON m toJSON (SBPMsgInsStatus n m) = toJSON n <<>> toJSON m toJSON (SBPMsgIono n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxCpuState n m) = toJSON n <<>> toJSON m @@ -1044,7 +1044,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgIarState n m) = SBPMsgIarState n <$> f m msg f (SBPMsgImuAux n m) = SBPMsgImuAux n <$> f m msg f (SBPMsgImuRaw n m) = SBPMsgImuRaw n <$> f m - msg f (SBPMsgInitBase n m) = SBPMsgInitBase n <$> f m + msg f (SBPMsgInitBaseDep n m) = SBPMsgInitBaseDep n <$> f m msg f (SBPMsgInsStatus n m) = SBPMsgInsStatus n <$> f m msg f (SBPMsgIono n m) = SBPMsgIono n <$> f m msg f (SBPMsgLinuxCpuState n m) = SBPMsgLinuxCpuState n <$> f m diff --git a/haskell/src/SwiftNav/SBP/Piksi.hs b/haskell/src/SwiftNav/SBP/Piksi.hs index 9bbe202b5f..7b5ba516e4 100644 --- a/haskell/src/SwiftNav/SBP/Piksi.hs +++ b/haskell/src/SwiftNav/SBP/Piksi.hs @@ -186,27 +186,24 @@ $(makeSBP 'msgResetFilters ''MsgResetFilters) $(makeJSON "_msgResetFilters_" ''MsgResetFilters) $(makeLenses ''MsgResetFilters) -msgInitBase :: Word16 -msgInitBase = 0x0023 +msgInitBaseDep :: Word16 +msgInitBaseDep = 0x0023 --- | SBP class for message MSG_INIT_BASE (0x0023). +-- | SBP class for message MSG_INIT_BASE_DEP (0x0023). -- --- This message initializes the integer ambiguity resolution (IAR) process on --- the Piksi to use an assumed baseline position between the base station and --- rover receivers. Warns via MSG_PRINT if there aren't a shared minimum number --- (4) of satellite observations between the two. -data MsgInitBase = MsgInitBase +-- Deprecated +data MsgInitBaseDep = MsgInitBaseDep deriving ( Show, Read, Eq ) -instance Binary MsgInitBase where +instance Binary MsgInitBaseDep where get = - pure MsgInitBase + pure MsgInitBaseDep - put MsgInitBase = + put MsgInitBaseDep = pure () -$(makeSBP 'msgInitBase ''MsgInitBase) -$(makeJSON "_msgInitBase_" ''MsgInitBase) -$(makeLenses ''MsgInitBase) +$(makeSBP 'msgInitBaseDep ''MsgInitBaseDep) +$(makeJSON "_msgInitBaseDep_" ''MsgInitBaseDep) +$(makeLenses ''MsgInitBaseDep) msgThreadState :: Word16 msgThreadState = 0x0017 diff --git a/java/src/com/swiftnav/sbp/client/MessageTable.java b/java/src/com/swiftnav/sbp/client/MessageTable.java index 78368873df..362c90f6b4 100644 --- a/java/src/com/swiftnav/sbp/client/MessageTable.java +++ b/java/src/com/swiftnav/sbp/client/MessageTable.java @@ -135,7 +135,7 @@ import com.swiftnav.sbp.piksi.MsgCwResults; import com.swiftnav.sbp.piksi.MsgCwStart; import com.swiftnav.sbp.piksi.MsgResetFilters; -import com.swiftnav.sbp.piksi.MsgInitBase; +import com.swiftnav.sbp.piksi.MsgInitBaseDep; import com.swiftnav.sbp.piksi.MsgThreadState; import com.swiftnav.sbp.piksi.MsgUartState; import com.swiftnav.sbp.piksi.MsgUartStateDepa; @@ -432,8 +432,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException { return new MsgCwStart(msg); case MsgResetFilters.TYPE: return new MsgResetFilters(msg); - case MsgInitBase.TYPE: - return new MsgInitBase(msg); + case MsgInitBaseDep.TYPE: + return new MsgInitBaseDep(msg); case MsgThreadState.TYPE: return new MsgThreadState(msg); case MsgUartState.TYPE: diff --git a/java/src/com/swiftnav/sbp/piksi/MsgInitBase.java b/java/src/com/swiftnav/sbp/piksi/MsgInitBaseDep.java similarity index 67% rename from java/src/com/swiftnav/sbp/piksi/MsgInitBase.java rename to java/src/com/swiftnav/sbp/piksi/MsgInitBaseDep.java index 940f01545a..268a497c86 100644 --- a/java/src/com/swiftnav/sbp/piksi/MsgInitBase.java +++ b/java/src/com/swiftnav/sbp/piksi/MsgInitBaseDep.java @@ -23,26 +23,22 @@ import org.json.JSONArray; -/** SBP class for message MSG_INIT_BASE (0x0023). +/** SBP class for message MSG_INIT_BASE_DEP (0x0023). * - * You can have MSG_INIT_BASE inherent its fields directly from + * You can have MSG_INIT_BASE_DEP inherent its fields directly from * an inherited SBP object, or construct it inline using a dict of its * fields. * - * This message initializes the integer ambiguity resolution (IAR) - * process on the Piksi to use an assumed baseline position between - * the base station and rover receivers. Warns via MSG_PRINT if - * there aren't a shared minimum number (4) of satellite - * observations between the two. */ +* Deprecated */ -public class MsgInitBase extends SBPMessage { +public class MsgInitBaseDep extends SBPMessage { public static final int TYPE = 0x0023; - public MsgInitBase (int sender) { super(sender, TYPE); } - public MsgInitBase () { super(TYPE); } - public MsgInitBase (SBPMessage msg) throws SBPBinaryException { + public MsgInitBaseDep (int sender) { super(sender, TYPE); } + public MsgInitBaseDep () { super(TYPE); } + public MsgInitBaseDep (SBPMessage msg) throws SBPBinaryException { super(msg); assert msg.type != TYPE; } diff --git a/javascript/sbp.bundle.js b/javascript/sbp.bundle.js index 3c194a49c0..51619ff23a 100644 --- a/javascript/sbp.bundle.js +++ b/javascript/sbp.bundle.js @@ -5,11 +5,11 @@ * @author Feross Aboukhadijeh * @license MIT */ -var p=r(24),o=r(25),i=r(17);function s(){return a.TYPED_ARRAY_SUPPORT?2147483647:1073741823}function n(e,t){if(s()=s())throw new RangeError("Attempt to allocate Buffer larger than maximum size: 0x"+s().toString(16)+" bytes");return 0|e}function f(e,t){if(a.isBuffer(e))return e.length;if("undefined"!=typeof ArrayBuffer&&"function"==typeof ArrayBuffer.isView&&(ArrayBuffer.isView(e)||e instanceof ArrayBuffer))return e.byteLength;"string"!=typeof e&&(e=""+e);var r=e.length;if(0===r)return 0;for(var p=!1;;)switch(t){case"ascii":case"latin1":case"binary":return r;case"utf8":case"utf-8":case void 0:return B(e).length;case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return 2*r;case"hex":return r>>>1;case"base64":return F(e).length;default:if(p)return B(e).length;t=(""+t).toLowerCase(),p=!0}}function d(e,t,r){var p=e[t];e[t]=e[r],e[r]=p}function _(e,t,r,p,o){if(0===e.length)return-1;if("string"==typeof r?(p=r,r=0):r>2147483647?r=2147483647:r<-2147483648&&(r=-2147483648),r=+r,isNaN(r)&&(r=o?0:e.length-1),r<0&&(r=e.length+r),r>=e.length){if(o)return-1;r=e.length-1}else if(r<0){if(!o)return-1;r=0}if("string"==typeof t&&(t=a.from(t,p)),a.isBuffer(t))return 0===t.length?-1:S(e,t,r,p,o);if("number"==typeof t)return t&=255,a.TYPED_ARRAY_SUPPORT&&"function"==typeof Uint8Array.prototype.indexOf?o?Uint8Array.prototype.indexOf.call(e,t,r):Uint8Array.prototype.lastIndexOf.call(e,t,r):S(e,[t],r,p,o);throw new TypeError("val must be string, number or Buffer")}function S(e,t,r,p,o){var i,s=1,n=e.length,a=t.length;if(void 0!==p&&("ucs2"===(p=String(p).toLowerCase())||"ucs-2"===p||"utf16le"===p||"utf-16le"===p)){if(e.length<2||t.length<2)return-1;s=2,n/=2,a/=2,r/=2}function l(e,t){return 1===s?e[t]:e.readUInt16BE(t*s)}if(o){var c=-1;for(i=r;in&&(r=n-a),i=r;i>=0;i--){for(var u=!0,y=0;yo&&(p=o):p=o;var i=t.length;if(i%2!=0)throw new TypeError("Invalid hex string");p>i/2&&(p=i/2);for(var s=0;s>8,o=r%256,i.push(o),i.push(p);return i}(t,e.length-r),e,r,p)}function L(e,t,r){return 0===t&&r===e.length?p.fromByteArray(e):p.fromByteArray(e.slice(t,r))}function T(e,t,r){r=Math.min(e.length,r);for(var p=[],o=t;o239?4:l>223?3:l>191?2:1;if(o+u<=r)switch(u){case 1:l<128&&(c=l);break;case 2:128==(192&(i=e[o+1]))&&(a=(31&l)<<6|63&i)>127&&(c=a);break;case 3:i=e[o+1],s=e[o+2],128==(192&i)&&128==(192&s)&&(a=(15&l)<<12|(63&i)<<6|63&s)>2047&&(a<55296||a>57343)&&(c=a);break;case 4:i=e[o+1],s=e[o+2],n=e[o+3],128==(192&i)&&128==(192&s)&&128==(192&n)&&(a=(15&l)<<18|(63&i)<<12|(63&s)<<6|63&n)>65535&&a<1114112&&(c=a)}null===c?(c=65533,u=1):c>65535&&(c-=65536,p.push(c>>>10&1023|55296),c=56320|1023&c),p.push(c),o+=u}return function(e){var t=e.length;if(t<=I)return String.fromCharCode.apply(String,e);var r="",p=0;for(;pthis.length)return"";if((void 0===r||r>this.length)&&(r=this.length),r<=0)return"";if((r>>>=0)<=(t>>>=0))return"";for(e||(e="utf8");;)switch(e){case"hex":return D(this,t,r);case"utf8":case"utf-8":return T(this,t,r);case"ascii":return M(this,t,r);case"latin1":case"binary":return U(this,t,r);case"base64":return L(this,t,r);case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return O(this,t,r);default:if(p)throw new TypeError("Unknown encoding: "+e);e=(e+"").toLowerCase(),p=!0}}.apply(this,arguments)},a.prototype.equals=function(e){if(!a.isBuffer(e))throw new TypeError("Argument must be a Buffer");return this===e||0===a.compare(this,e)},a.prototype.inspect=function(){var e="",r=t.INSPECT_MAX_BYTES;return this.length>0&&(e=this.toString("hex",0,r).match(/.{2}/g).join(" "),this.length>r&&(e+=" ... 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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 p.call(this,e),this.messageType="MSG_BOOTLOADER_JUMP_TO_APP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_REQ",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.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,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_EXT_EVENT",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_REQ",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_RESP",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_REMOVE",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_WRITE_REQ",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_WRITE_RESP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_CONFIG_REQ",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_CONFIG_RESP",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_CONFIG_RESP",h.prototype.msg_type=4098,h.prototype.constructor=h,h.prototype.parser=(new 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s=function(e,t){return p.call(this,e),this.messageType="MSG_FWD",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_FWD",s.prototype.msg_type=1026,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("source").uint8("protocol").string("fwd_payload",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["source","writeUInt8",1]),s.prototype.fieldSpec.push(["protocol","writeUInt8",1]),s.prototype.fieldSpec.push(["fwd_payload","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_PRINT_DEP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_PRINT_DEP",n.prototype.msg_type=16,n.prototype.constructor=n,n.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_COMMAND_REQ",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_REQ",M.prototype.msg_type=184,M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").uint32("sequence").string("command",{greedy:!0}),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),M.prototype.fieldSpec.push(["command","string",null]);var U=function(e,t){return p.call(this,e),this.messageType="MSG_COMMAND_RESP",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_RESP",U.prototype.msg_type=185,U.prototype.constructor=U,U.prototype.parser=(new o).endianess("little").uint32("sequence").int32("code"),U.prototype.fieldSpec=[],U.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),U.prototype.fieldSpec.push(["code","writeInt32LE",4]);var D=function(e,t){return p.call(this,e),this.messageType="MSG_COMMAND_OUTPUT",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_NETWORK_STATE_REQ",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(p.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 A=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_STATE_RESP",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_STATE_RESP",A.prototype.msg_type=187,A.prototype.constructor=A,A.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"),A.prototype.fieldSpec=[],A.prototype.fieldSpec.push(["ipv4_address","array","writeUInt8",function(){return 1},4]),A.prototype.fieldSpec.push(["ipv4_mask_size","writeUInt8",1]),A.prototype.fieldSpec.push(["ipv6_address","array","writeUInt8",function(){return 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C=function(e,t){return p.call(this,e),this.messageType="MSG_CELL_MODEM_STATUS",this.fields=t||this.parser.parse(e.payload),this};(C.prototype=Object.create(p.prototype)).messageType="MSG_CELL_MODEM_STATUS",C.prototype.msg_type=190,C.prototype.constructor=C,C.prototype.parser=(new o).endianess("little").int8("signal_strength").floatle("signal_error_rate").array("reserved",{type:"uint8",readUntil:"eof"}),C.prototype.fieldSpec=[],C.prototype.fieldSpec.push(["signal_strength","writeInt8",1]),C.prototype.fieldSpec.push(["signal_error_rate","writeFloatLE",4]),C.prototype.fieldSpec.push(["reserved","array","writeUInt8",function(){return 1},null]);var P=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN_DEP",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN_DEP",P.prototype.msg_type=80,P.prototype.constructor=P,P.prototype.parser=(new 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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"}),j.prototype.fieldSpec=[],j.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),j.prototype.fieldSpec.push(["t",n.prototype.fieldSpec]),j.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),j.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),j.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),j.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),j.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var N=function(e,t){return p.call(this,e),this.messageType="MSG_FRONT_END_GAIN",this.fields=t||this.parser.parse(e.payload),this};(N.prototype=Object.create(p.prototype)).messageType="MSG_FRONT_END_GAIN",N.prototype.msg_type=191,N.prototype.constructor=N,N.prototype.parser=(new o).endianess("little").array("rf_gain",{length:8,type:"int8"}).array("if_gain",{length:8,type:"int8"}),N.prototype.fieldSpec=[],N.prototype.fieldSpec.push(["rf_gain","array","writeInt8",function(){return 1},8]),N.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:_,MsgInitBase:_,23:S,MsgThreadState:S,UARTChannel:g,Period:w,Latency:E,29:m,MsgUartState:m,24:b,MsgUartStateDepa:b,25:v,MsgIarState:v,43:L,MsgMaskSatellite:L,27:T,MsgMaskSatelliteDep:T,181:I,MsgDeviceMonitor:I,184:M,MsgCommandReq:M,185:U,MsgCommandResp:U,188:D,MsgCommandOutput:D,186:O,MsgNetworkStateReq:O,187:A,MsgNetworkStateResp:A,NetworkUsage:G,189:R,MsgNetworkBandwidthUsage:R,190:C,MsgCellModemStatus:C,80:P,MsgSpecanDep:P,81:j,MsgSpecan:j,191:N,MsgFrontEndGain:N}},function(e,t,r){var 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p.call(this,e),this.messageType="MSG_SETTINGS_REGISTER_RESP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.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,r){var p=r(2),o=r(13).Parser,i=function(e){return 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E=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_CODE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="MSG_SSR_CODE_BIASES",E.prototype.msg_type=1505,E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").nest("time",{type:n.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").array("biases",{type:l.prototype.parser,readUntil:"eof"}),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["time",n.prototype.fieldSpec]),E.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),E.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),E.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),E.prototype.fieldSpec.push(["biases","array",l.prototype.fieldSpec,function(){return this.fields.array.length},null]);var m=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_PHASE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_SSR_PHASE_BIASES",m.prototype.msg_type=1510,m.prototype.constructor=m,m.prototype.parser=(new o).endianess("little").nest("time",{type:n.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").uint8("dispersive_bias").uint8("mw_consistency").uint16("yaw").int8("yaw_rate").array("biases",{type:c.prototype.parser,readUntil:"eof"}),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["time",n.prototype.fieldSpec]),m.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),m.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),m.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),m.prototype.fieldSpec.push(["dispersive_bias","writeUInt8",1]),m.prototype.fieldSpec.push(["mw_consistency","writeUInt8",1]),m.prototype.fieldSpec.push(["yaw","writeUInt16LE",2]),m.prototype.fieldSpec.push(["yaw_rate","writeInt8",1]),m.prototype.fieldSpec.push(["biases","array",c.prototype.fieldSpec,function(){return this.fields.array.length},null]);var b=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION",b.prototype.msg_type=1515,b.prototype.constructor=b,b.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).array("stec_sat_list",{type:h.prototype.parser,readUntil:"eof"}),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),b.prototype.fieldSpec.push(["stec_sat_list","array",h.prototype.fieldSpec,function(){return this.fields.array.length},null]);var v=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION",v.prototype.msg_type=1520,v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").nest("header",{type:y.prototype.parser}).nest("element",{type:_.prototype.parser}),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["header",y.prototype.fieldSpec]),v.prototype.fieldSpec.push(["element",_.prototype.fieldSpec]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRID_DEFINITION",L.prototype.msg_type=1525,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").nest("header",{type:S.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["header",S.prototype.fieldSpec]),L.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]),e.exports={CodeBiasesContent:l,PhaseBiasesContent:c,STECHeader:u,GriddedCorrectionHeader:y,STECSatElement:h,TroposphericDelayCorrection:f,STECResidual:d,GridElement:_,GridDefinitionHeader:S,1501:g,MsgSsrOrbitClock:g,1500:w,MsgSsrOrbitClockDepA:w,1505:E,MsgSsrCodeBiases:E,1510:m,MsgSsrPhaseBiases:m,1515:b,MsgSsrStecCorrection:b,1520:v,MsgSsrGriddedCorrection:v,1525:L,MsgSsrGridDefinition:L}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_STARTUP",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_DGNSS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_HEARTBEAT",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_HEARTBEAT",n.prototype.msg_type=65535,n.prototype.constructor=n,n.prototype.parser=(new 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c=function(e,t){return p.call(this,e),this.messageType="MSG_CSAC_TELEMETRY_LABELS",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_CSAC_TELEMETRY_LABELS",c.prototype.msg_type=65285,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry_labels",{greedy:!0}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["id","writeUInt8",1]),c.prototype.fieldSpec.push(["telemetry_labels","string",null]),e.exports={65280:i,MsgStartup:i,65282:s,MsgDgnssStatus:s,65535:n,MsgHeartbeat:n,65283:a,MsgInsStatus:a,65284:l,MsgCsacTelemetry:l,65285:c,MsgCsacTelemetryLabels:c}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=r(0).GnssSignalDep,n=r(0).GPSTime,a=r(0).CarrierPhase,l=(n=r(0).GPSTime,r(0).GPSTimeSec,r(0).GPSTimeDep),c=(r(0).SvId,function(e,t){return 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u=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE_DETAILED_DEP",u.prototype.msg_type=17,u.prototype.constructor=u,u.prototype.parser=(new 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y=function(e,t){return p.call(this,e),this.messageType="TrackingChannelState",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="TrackingChannelState",y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint8("fcn").uint8("cn0"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),y.prototype.fieldSpec.push(["fcn","writeUInt8",1]),y.prototype.fieldSpec.push(["cn0","writeUInt8",1]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.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 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this.fields.array.length},null]);var _=function(e,t){return p.call(this,e),this.messageType="TrackingChannelCorrelation",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_TRACKING_IQ",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.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:i.prototype.parser}).array("corrs",{length:3,type:_.prototype.parser}),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["channel","writeUInt8",1]),S.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),S.prototype.fieldSpec.push(["corrs","array",_.prototype.fieldSpec,function(){return this.fields.array.length},3]);var g=function(e,t){return p.call(this,e),this.messageType="TrackingChannelCorrelationDep",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.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:i.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",i.prototype.fieldSpec]),w.prototype.fieldSpec.push(["corrs","array",g.prototype.fieldSpec,function(){return this.fields.array.length},3]);var E=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_IQ_DEP_A",E.prototype.msg_type=28,E.prototype.constructor=E,E.prototype.parser=(new 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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 r=this._a48<<16|this._a32,p=this._a16<<16|this._a00,o=r<>>32-e,i=p<>>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 r=this._a48<<16|this._a32,p=this._a16<<16|this._a00,o=r>>>e|p<<32-e,i=p>>>e|r<<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===(p=function(){return s}.apply(t,[]))||(e.exports=p)}()},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=r(0).GnssSignalDep,n=(r(0).GPSTime,r(0).CarrierPhase,r(0).GPSTime,r(0).GPSTimeSec,r(0).GPSTimeDep,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_RESULT",this.fields=t||this.parser.parse(e.payload),this});(n.prototype=Object.create(p.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 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p.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE_DEP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.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,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_BOOTLOADER_JUMP_TO_APP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_REQ",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.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,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_EXT_EVENT",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_REQ",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_RESP",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_REMOVE",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_WRITE_REQ",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_WRITE_RESP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_CONFIG_REQ",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_FILEIO_CONFIG_RESP",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_CONFIG_RESP",h.prototype.msg_type=4098,h.prototype.constructor=h,h.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_STM_FLASH_LOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_STM_FLASH_UNLOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_STM_UNIQUE_ID_REQ",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_STM_UNIQUE_ID_RESP",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.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 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p.call(this,e),this.messageType="MSG_LINUX_SOCKET_USAGE",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_COUNT",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_SUMMARY",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_FD_SUMMARY",y.prototype.msg_type=32519,y.prototype.constructor=y,y.prototype.parser=(new 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s=function(e,t){return p.call(this,e),this.messageType="MSG_FWD",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_FWD",s.prototype.msg_type=1026,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("source").uint8("protocol").string("fwd_payload",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["source","writeUInt8",1]),s.prototype.fieldSpec.push(["protocol","writeUInt8",1]),s.prototype.fieldSpec.push(["fwd_payload","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_PRINT_DEP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_PRINT_DEP",n.prototype.msg_type=16,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").string("text",{greedy:!0}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["text","string",null]),e.exports={1025:i,MsgLog:i,1026:s,MsgFwd:s,16:n,MsgPrintDep:n}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_MAG_RAW",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_MAG_RAW",i.prototype.msg_type=2306,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").uint8("tow_f").int16("mag_x").int16("mag_y").int16("mag_z"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["tow_f","writeUInt8",1]),i.prototype.fieldSpec.push(["mag_x","writeInt16LE",2]),i.prototype.fieldSpec.push(["mag_y","writeInt16LE",2]),i.prototype.fieldSpec.push(["mag_z","writeInt16LE",2]),e.exports={2306:i,MsgMagRaw:i}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_GPS_TIME",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_GPS_TIME",i.prototype.msg_type=258,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint16("wn").uint32("tow").int32("ns_residual").uint8("flags"),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]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_UTC_TIME",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_UTC_TIME",s.prototype.msg_type=259,s.prototype.constructor=s,s.prototype.parser=(new 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o).endianess("little").uint32("tow").uint16("gdop").uint16("pdop").uint16("tdop").uint16("hdop").uint16("vdop").uint8("flags"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),n.prototype.fieldSpec.push(["gdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["pdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["tdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["hdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["vdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["flags","writeUInt8",1]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_POS_ECEF",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_POS_ECEF",a.prototype.msg_type=521,a.prototype.constructor=a,a.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_UART_STATE_DEPA",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.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 v=function(e,t){return p.call(this,e),this.messageType="MSG_IAR_STATE",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_IAR_STATE",v.prototype.msg_type=25,v.prototype.constructor=v,v.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_COMMAND_REQ",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_REQ",M.prototype.msg_type=184,M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").uint32("sequence").string("command",{greedy:!0}),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),M.prototype.fieldSpec.push(["command","string",null]);var U=function(e,t){return p.call(this,e),this.messageType="MSG_COMMAND_RESP",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(p.prototype)).messageType="MSG_COMMAND_RESP",U.prototype.msg_type=185,U.prototype.constructor=U,U.prototype.parser=(new o).endianess("little").uint32("sequence").int32("code"),U.prototype.fieldSpec=[],U.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),U.prototype.fieldSpec.push(["code","writeInt32LE",4]);var D=function(e,t){return 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p.call(this,e),this.messageType="MSG_NETWORK_STATE_RESP",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_STATE_RESP",A.prototype.msg_type=187,A.prototype.constructor=A,A.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"),A.prototype.fieldSpec=[],A.prototype.fieldSpec.push(["ipv4_address","array","writeUInt8",function(){return 1},4]),A.prototype.fieldSpec.push(["ipv4_mask_size","writeUInt8",1]),A.prototype.fieldSpec.push(["ipv6_address","array","writeUInt8",function(){return 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P=function(e,t){return p.call(this,e),this.messageType="MSG_CELL_MODEM_STATUS",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(p.prototype)).messageType="MSG_CELL_MODEM_STATUS",P.prototype.msg_type=190,P.prototype.constructor=P,P.prototype.parser=(new o).endianess("little").int8("signal_strength").floatle("signal_error_rate").array("reserved",{type:"uint8",readUntil:"eof"}),P.prototype.fieldSpec=[],P.prototype.fieldSpec.push(["signal_strength","writeInt8",1]),P.prototype.fieldSpec.push(["signal_error_rate","writeFloatLE",4]),P.prototype.fieldSpec.push(["reserved","array","writeUInt8",function(){return 1},null]);var C=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN_DEP",this.fields=t||this.parser.parse(e.payload),this};(C.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN_DEP",C.prototype.msg_type=80,C.prototype.constructor=C,C.prototype.parser=(new 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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"}),j.prototype.fieldSpec=[],j.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),j.prototype.fieldSpec.push(["t",n.prototype.fieldSpec]),j.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),j.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),j.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),j.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),j.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var N=function(e,t){return p.call(this,e),this.messageType="MSG_FRONT_END_GAIN",this.fields=t||this.parser.parse(e.payload),this};(N.prototype=Object.create(p.prototype)).messageType="MSG_FRONT_END_GAIN",N.prototype.msg_type=191,N.prototype.constructor=N,N.prototype.parser=(new o).endianess("little").array("rf_gain",{length:8,type:"int8"}).array("if_gain",{length:8,type:"int8"}),N.prototype.fieldSpec=[],N.prototype.fieldSpec.push(["rf_gain","array","writeInt8",function(){return 1},8]),N.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:v,MsgIarState:v,43:L,MsgMaskSatellite:L,27:T,MsgMaskSatelliteDep:T,181:I,MsgDeviceMonitor:I,184:M,MsgCommandReq:M,185:U,MsgCommandResp:U,188:D,MsgCommandOutput:D,186:O,MsgNetworkStateReq:O,187:A,MsgNetworkStateResp:A,NetworkUsage:G,189:R,MsgNetworkBandwidthUsage:R,190:P,MsgCellModemStatus:P,80:C,MsgSpecanDep:C,81:j,MsgSpecan:j,191:N,MsgFrontEndGain:N}},function(e,t,r){var 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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 p.call(this,e),this.messageType="MSG_SETTINGS_READ_BY_INDEX_REQ",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_SETTINGS_READ_BY_INDEX_RESP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.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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p.call(this,e),this.messageType="MSG_SETTINGS_REGISTER_RESP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.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,r){var p=r(2),o=r(13).Parser,i=function(e){return p.call(this,e),this.messageType="SBPSignal",this.fields=this.parser.parse(e.payload),this};(i.prototype=Object.create(p.prototype)).constructor=i,i.prototype.parser=(new o).endianess("little").uint16("sat").uint8("band").uint8("constellation"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["sat","writeUInt16LE",2]),i.prototype.fieldSpec.push(["band","writeUInt8",1]),i.prototype.fieldSpec.push(["constellation","writeUInt8",1]),e.exports={SBPSignal:i}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=(r(0).GnssSignalDep,r(0).GPSTime),n=(r(0).CarrierPhase,s=r(0).GPSTime,r(0).GPSTimeSec),a=(r(0).GPSTimeDep,r(0).SvId),l=function(e,t){return p.call(this,e),this.messageType="CodeBiasesContent",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="CodeBiasesContent",l.prototype.constructor=l,l.prototype.parser=(new 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p.call(this,e),this.messageType="STECResidual",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="STECResidual",d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").nest("sv_id",{type:a.prototype.parser}).int16("residual"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["sv_id",a.prototype.fieldSpec]),d.prototype.fieldSpec.push(["residual","writeInt16LE",2]);var _=function(e,t){return p.call(this,e),this.messageType="GridElement",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="GridElement",_.prototype.constructor=_,_.prototype.parser=(new 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w=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",w.prototype.msg_type=1500,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").nest("time",{type:n.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"),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["time",n.prototype.fieldSpec]),w.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),w.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),w.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),w.prototype.fieldSpec.push(["iod","writeUInt8",1]),w.prototype.fieldSpec.push(["radial","writeInt32LE",4]),w.prototype.fieldSpec.push(["along","writeInt32LE",4]),w.prototype.fieldSpec.push(["cross","writeInt32LE",4]),w.prototype.fieldSpec.push(["dot_radial","writeInt32LE",4]),w.prototype.fieldSpec.push(["dot_along","writeInt32LE",4]),w.prototype.fieldSpec.push(["dot_cross","writeInt32LE",4]),w.prototype.fieldSpec.push(["c0","writeInt32LE",4]),w.prototype.fieldSpec.push(["c1","writeInt32LE",4]),w.prototype.fieldSpec.push(["c2","writeInt32LE",4]);var E=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_CODE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="MSG_SSR_CODE_BIASES",E.prototype.msg_type=1505,E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").nest("time",{type:n.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").array("biases",{type:l.prototype.parser,readUntil:"eof"}),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["time",n.prototype.fieldSpec]),E.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),E.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),E.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),E.prototype.fieldSpec.push(["biases","array",l.prototype.fieldSpec,function(){return this.fields.array.length},null]);var m=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_PHASE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_SSR_PHASE_BIASES",m.prototype.msg_type=1510,m.prototype.constructor=m,m.prototype.parser=(new o).endianess("little").nest("time",{type:n.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").uint8("dispersive_bias").uint8("mw_consistency").uint16("yaw").int8("yaw_rate").array("biases",{type:c.prototype.parser,readUntil:"eof"}),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["time",n.prototype.fieldSpec]),m.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),m.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),m.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),m.prototype.fieldSpec.push(["dispersive_bias","writeUInt8",1]),m.prototype.fieldSpec.push(["mw_consistency","writeUInt8",1]),m.prototype.fieldSpec.push(["yaw","writeUInt16LE",2]),m.prototype.fieldSpec.push(["yaw_rate","writeInt8",1]),m.prototype.fieldSpec.push(["biases","array",c.prototype.fieldSpec,function(){return this.fields.array.length},null]);var b=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION",b.prototype.msg_type=1515,b.prototype.constructor=b,b.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).array("stec_sat_list",{type:h.prototype.parser,readUntil:"eof"}),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),b.prototype.fieldSpec.push(["stec_sat_list","array",h.prototype.fieldSpec,function(){return this.fields.array.length},null]);var v=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION",v.prototype.msg_type=1520,v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").nest("header",{type:y.prototype.parser}).nest("element",{type:_.prototype.parser}),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["header",y.prototype.fieldSpec]),v.prototype.fieldSpec.push(["element",_.prototype.fieldSpec]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRID_DEFINITION",L.prototype.msg_type=1525,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").nest("header",{type:S.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["header",S.prototype.fieldSpec]),L.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]),e.exports={CodeBiasesContent:l,PhaseBiasesContent:c,STECHeader:u,GriddedCorrectionHeader:y,STECSatElement:h,TroposphericDelayCorrection:f,STECResidual:d,GridElement:_,GridDefinitionHeader:S,1501:g,MsgSsrOrbitClock:g,1500:w,MsgSsrOrbitClockDepA:w,1505:E,MsgSsrCodeBiases:E,1510:m,MsgSsrPhaseBiases:m,1515:b,MsgSsrStecCorrection:b,1520:v,MsgSsrGriddedCorrection:v,1525:L,MsgSsrGridDefinition:L}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_STARTUP",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_DGNSS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_HEARTBEAT",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_INS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_INS_STATUS",a.prototype.msg_type=65283,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint32("flags"),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var l=function(e,t){return p.call(this,e),this.messageType="MSG_CSAC_TELEMETRY",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_CSAC_TELEMETRY",l.prototype.msg_type=65284,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry",{greedy:!0}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["id","writeUInt8",1]),l.prototype.fieldSpec.push(["telemetry","string",null]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_CSAC_TELEMETRY_LABELS",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_CSAC_TELEMETRY_LABELS",c.prototype.msg_type=65285,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry_labels",{greedy:!0}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["id","writeUInt8",1]),c.prototype.fieldSpec.push(["telemetry_labels","string",null]),e.exports={65280:i,MsgStartup:i,65282:s,MsgDgnssStatus:s,65535:n,MsgHeartbeat:n,65283:a,MsgInsStatus:a,65284:l,MsgCsacTelemetry:l,65285:c,MsgCsacTelemetryLabels:c}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=r(0).GnssSignalDep,n=r(0).GPSTime,a=r(0).CarrierPhase,l=(n=r(0).GPSTime,r(0).GPSTimeSec,r(0).GPSTimeDep),c=(r(0).SvId,function(e,t){return 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u=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.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:a.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"),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",a.prototype.fieldSpec]),u.prototype.fieldSpec.push(["cn0","writeUInt8",1]),u.prototype.fieldSpec.push(["lock","writeUInt16LE",2]),u.prototype.fieldSpec.push(["sid",s.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 p.call(this,e),this.messageType="TrackingChannelState",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="TrackingChannelState",y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint8("fcn").uint8("cn0"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),y.prototype.fieldSpec.push(["fcn","writeUInt8",1]),y.prototype.fieldSpec.push(["cn0","writeUInt8",1]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.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 p.call(this,e),this.messageType="MeasurementState",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MeasurementState",f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").nest("mesid",{type:i.prototype.parser}).uint8("cn0"),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["mesid",i.prototype.fieldSpec]),f.prototype.fieldSpec.push(["cn0","writeUInt8",1]);var d=function(e,t){return p.call(this,e),this.messageType="MSG_MEASUREMENT_STATE",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.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 p.call(this,e),this.messageType="TrackingChannelCorrelation",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_TRACKING_IQ",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.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:i.prototype.parser}).array("corrs",{length:3,type:_.prototype.parser}),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["channel","writeUInt8",1]),S.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),S.prototype.fieldSpec.push(["corrs","array",_.prototype.fieldSpec,function(){return this.fields.array.length},3]);var g=function(e,t){return p.call(this,e),this.messageType="TrackingChannelCorrelationDep",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.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:i.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",i.prototype.fieldSpec]),w.prototype.fieldSpec.push(["corrs","array",g.prototype.fieldSpec,function(){return this.fields.array.length},3]);var E=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.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:s.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",s.prototype.fieldSpec]),E.prototype.fieldSpec.push(["corrs","array",g.prototype.fieldSpec,function(){return this.fields.array.length},3]);var m=function(e,t){return p.call(this,e),this.messageType="TrackingChannelStateDepA",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_TRACKING_STATE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.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 v=function(e,t){return p.call(this,e),this.messageType="TrackingChannelStateDepB",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="TrackingChannelStateDepB",v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").uint8("state").nest("sid",{type:s.prototype.parser}).floatle("cn0"),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["state","writeUInt8",1]),v.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),v.prototype.fieldSpec.push(["cn0","writeFloatLE",4]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE_DEP_B",L.prototype.msg_type=19,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").array("states",{type:v.prototype.parser,readUntil:"eof"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["states","array",v.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:v,19:L,MsgTrackingStateDepB:L}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_USER_DATA",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_ODOMETRY",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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]),e.exports={2307:i,MsgOdometry:i}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_BASELINE_HEADING",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_ORIENT_QUAT",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_ORIENT_EULER",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.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 p.call(this,e),this.messageType="MSG_ANGULAR_RATE",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.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}}]); \ No newline at end of file diff --git a/javascript/sbp/piksi.js b/javascript/sbp/piksi.js index 91cfc76aa3..726cdf291f 100644 --- a/javascript/sbp/piksi.js +++ b/javascript/sbp/piksi.js @@ -202,29 +202,26 @@ MsgResetFilters.prototype.fieldSpec = []; MsgResetFilters.prototype.fieldSpec.push(['filter', 'writeUInt8', 1]); /** - * SBP class for message MSG_INIT_BASE (0x0023). + * SBP class for message MSG_INIT_BASE_DEP (0x0023). * - * This message initializes the integer ambiguity resolution (IAR) process on the - * Piksi to use an assumed baseline position between the base station and rover - * receivers. Warns via MSG_PRINT if there aren't a shared minimum number (4) of - * satellite observations between the two. + * Deprecated * * @param sbp An SBP object with a payload to be decoded. */ -var MsgInitBase = function (sbp, fields) { +var MsgInitBaseDep = function (sbp, fields) { SBP.call(this, sbp); - this.messageType = "MSG_INIT_BASE"; + this.messageType = "MSG_INIT_BASE_DEP"; this.fields = (fields || this.parser.parse(sbp.payload)); return this; }; -MsgInitBase.prototype = Object.create(SBP.prototype); -MsgInitBase.prototype.messageType = "MSG_INIT_BASE"; -MsgInitBase.prototype.msg_type = 0x0023; -MsgInitBase.prototype.constructor = MsgInitBase; -MsgInitBase.prototype.parser = new Parser() +MsgInitBaseDep.prototype = Object.create(SBP.prototype); +MsgInitBaseDep.prototype.messageType = "MSG_INIT_BASE_DEP"; +MsgInitBaseDep.prototype.msg_type = 0x0023; +MsgInitBaseDep.prototype.constructor = MsgInitBaseDep; +MsgInitBaseDep.prototype.parser = new Parser() .endianess('little'); -MsgInitBase.prototype.fieldSpec = []; +MsgInitBaseDep.prototype.fieldSpec = []; /** * SBP class for message MSG_THREAD_STATE (0x0017). @@ -1003,8 +1000,8 @@ module.exports = { MsgCwStart: MsgCwStart, 0x0022: MsgResetFilters, MsgResetFilters: MsgResetFilters, - 0x0023: MsgInitBase, - MsgInitBase: MsgInitBase, + 0x0023: MsgInitBaseDep, + MsgInitBaseDep: MsgInitBaseDep, 0x0017: MsgThreadState, MsgThreadState: MsgThreadState, UARTChannel: UARTChannel, diff --git a/proto/piksi.proto b/proto/piksi.proto index acb478cbf1..103e75a7e7 100644 --- a/proto/piksi.proto +++ b/proto/piksi.proto @@ -75,17 +75,6 @@ message MsgResetFilters { uint32 filter = 1; } -/** Initialize IAR from known baseline (host => device) - * - * This message initializes the integer ambiguity resolution (IAR) - * process on the Piksi to use an assumed baseline position between - * the base station and rover receivers. Warns via MSG_PRINT if - * there aren't a shared minimum number (4) of satellite - * observations between the two. - */ -message MsgInitBase { -} - /** State of an RTOS thread * * The thread usage message from the device reports real-time diff --git a/python/sbp/jit/gnss.py b/python/sbp/jit/gnss.py index c681acd927..b3436284f3 100644 --- a/python/sbp/jit/gnss.py +++ b/python/sbp/jit/gnss.py @@ -68,6 +68,48 @@ def _payload_size(self): ret += 1 return ret +class SvId(object): + """SBP class for message SvId + + You can have SvId inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + A (Constellation ID, satellite ID) tuple that uniquely identifies +a space vehicle + + + """ + __slots__ = ['satId', + 'constellation', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__satId, offset, length) = get_u8(buf, offset, length) + ret['satId'] = __satId + (__constellation, offset, length) = get_u8(buf, offset, length) + ret['constellation'] = __constellation + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.satId = res['satId'] + self.constellation = res['constellation'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # satId: u8 + ret += 1 + # constellation: u8 + ret += 1 + return ret + class GnssSignalDep(object): """SBP class for message GnssSignalDep diff --git a/python/sbp/jit/observation.py b/python/sbp/jit/observation.py index 89494748c9..b9707388aa 100644 --- a/python/sbp/jit/observation.py +++ b/python/sbp/jit/observation.py @@ -1121,6 +1121,176 @@ def _payload_size(self): ret += 2 return ret +SBP_MSG_EPHEMERIS_QZSS = 0x008E +class MsgEphemerisQzss(SBP): + """SBP class for message MSG_EPHEMERIS_QZSS (0x008E). + + You can have MSG_EPHEMERIS_QZSS inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + The ephemeris message returns a set of satellite orbit +parameters that is used to calculate QZSS satellite position, +velocity, and clock offset. + + + """ + __slots__ = ['common', + 'tgd', + 'c_rs', + 'c_rc', + 'c_uc', + 'c_us', + 'c_ic', + 'c_is', + 'dn', + 'm0', + 'ecc', + 'sqrta', + 'omega0', + 'omegadot', + 'w', + 'inc', + 'inc_dot', + 'af0', + 'af1', + 'af2', + 'toc', + 'iode', + 'iodc', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__common, offset, length) = EphemerisCommonContent.parse_members(buf, offset, length) + ret['common'] = __common + (__tgd, offset, length) = get_f32(buf, offset, length) + ret['tgd'] = judicious_round(nb.f4(__tgd)) if SBP.judicious_rounding else __tgd + (__c_rs, offset, length) = get_f32(buf, offset, length) + ret['c_rs'] = judicious_round(nb.f4(__c_rs)) if SBP.judicious_rounding else __c_rs + (__c_rc, offset, length) = get_f32(buf, offset, length) + ret['c_rc'] = judicious_round(nb.f4(__c_rc)) if SBP.judicious_rounding else __c_rc + (__c_uc, offset, length) = get_f32(buf, offset, length) + ret['c_uc'] = judicious_round(nb.f4(__c_uc)) if SBP.judicious_rounding else __c_uc + (__c_us, offset, length) = get_f32(buf, offset, length) + ret['c_us'] = judicious_round(nb.f4(__c_us)) if SBP.judicious_rounding else __c_us + (__c_ic, offset, length) = get_f32(buf, offset, length) + ret['c_ic'] = judicious_round(nb.f4(__c_ic)) if SBP.judicious_rounding else __c_ic + (__c_is, offset, length) = get_f32(buf, offset, length) + ret['c_is'] = judicious_round(nb.f4(__c_is)) if SBP.judicious_rounding else __c_is + (__dn, offset, length) = get_f64(buf, offset, length) + ret['dn'] = __dn + (__m0, offset, length) = get_f64(buf, offset, length) + ret['m0'] = __m0 + (__ecc, offset, length) = get_f64(buf, offset, length) + ret['ecc'] = __ecc + (__sqrta, offset, length) = get_f64(buf, offset, length) + ret['sqrta'] = __sqrta + (__omega0, offset, length) = get_f64(buf, offset, length) + ret['omega0'] = __omega0 + (__omegadot, offset, length) = get_f64(buf, offset, length) + ret['omegadot'] = __omegadot + (__w, offset, length) = get_f64(buf, offset, length) + ret['w'] = __w + (__inc, offset, length) = get_f64(buf, offset, length) + ret['inc'] = __inc + (__inc_dot, offset, length) = get_f64(buf, offset, length) + ret['inc_dot'] = __inc_dot + (__af0, offset, length) = get_f32(buf, offset, length) + ret['af0'] = judicious_round(nb.f4(__af0)) if SBP.judicious_rounding else __af0 + (__af1, offset, length) = get_f32(buf, offset, length) + ret['af1'] = judicious_round(nb.f4(__af1)) if SBP.judicious_rounding else __af1 + (__af2, offset, length) = get_f32(buf, offset, length) + ret['af2'] = judicious_round(nb.f4(__af2)) if SBP.judicious_rounding else __af2 + (__toc, offset, length) = GPSTimeSec.parse_members(buf, offset, length) + ret['toc'] = __toc + (__iode, offset, length) = get_u8(buf, offset, length) + ret['iode'] = __iode + (__iodc, offset, length) = get_u16(buf, offset, length) + ret['iodc'] = __iodc + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.common = res['common'] + self.tgd = res['tgd'] + self.c_rs = res['c_rs'] + self.c_rc = res['c_rc'] + self.c_uc = res['c_uc'] + self.c_us = res['c_us'] + self.c_ic = res['c_ic'] + self.c_is = res['c_is'] + self.dn = res['dn'] + self.m0 = res['m0'] + self.ecc = res['ecc'] + self.sqrta = res['sqrta'] + self.omega0 = res['omega0'] + self.omegadot = res['omegadot'] + self.w = res['w'] + self.inc = res['inc'] + self.inc_dot = res['inc_dot'] + self.af0 = res['af0'] + self.af1 = res['af1'] + self.af2 = res['af2'] + self.toc = res['toc'] + self.iode = res['iode'] + self.iodc = res['iodc'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # common: EphemerisCommonContent + ret += EphemerisCommonContent._payload_size() + # tgd: float + ret += 4 + # c_rs: float + ret += 4 + # c_rc: float + ret += 4 + # c_uc: float + ret += 4 + # c_us: float + ret += 4 + # c_ic: float + ret += 4 + # c_is: float + ret += 4 + # dn: double + ret += 8 + # m0: double + ret += 8 + # ecc: double + ret += 8 + # sqrta: double + ret += 8 + # omega0: double + ret += 8 + # omegadot: double + ret += 8 + # w: double + ret += 8 + # inc: double + ret += 8 + # inc_dot: double + ret += 8 + # af0: float + ret += 4 + # af1: float + ret += 4 + # af2: float + ret += 4 + # toc: GPSTimeSec + ret += GPSTimeSec._payload_size() + # iode: u8 + ret += 1 + # iodc: u16 + ret += 2 + return ret + SBP_MSG_EPHEMERIS_BDS = 0x0089 class MsgEphemerisBds(SBP): """SBP class for message MSG_EPHEMERIS_BDS (0x0089). @@ -1298,9 +1468,184 @@ def _payload_size(self): ret += 2 return ret -SBP_MSG_EPHEMERIS_GAL = 0x0095 +SBP_MSG_EPHEMERIS_GAL_DEP_A = 0x0095 +class MsgEphemerisGalDepA(SBP): + """SBP class for message MSG_EPHEMERIS_GAL_DEP_A (0x0095). + + You can have MSG_EPHEMERIS_GAL_DEP_A inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + This observation message has been deprecated in favor of +an ephemeris message with explicit source of NAV data. + + + """ + __slots__ = ['common', + 'bgd_e1e5a', + 'bgd_e1e5b', + 'c_rs', + 'c_rc', + 'c_uc', + 'c_us', + 'c_ic', + 'c_is', + 'dn', + 'm0', + 'ecc', + 'sqrta', + 'omega0', + 'omegadot', + 'w', + 'inc', + 'inc_dot', + 'af0', + 'af1', + 'af2', + 'toc', + 'iode', + 'iodc', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__common, offset, length) = EphemerisCommonContent.parse_members(buf, offset, length) + ret['common'] = __common + (__bgd_e1e5a, offset, length) = get_f32(buf, offset, length) + ret['bgd_e1e5a'] = judicious_round(nb.f4(__bgd_e1e5a)) if SBP.judicious_rounding else __bgd_e1e5a + (__bgd_e1e5b, offset, length) = get_f32(buf, offset, length) + ret['bgd_e1e5b'] = judicious_round(nb.f4(__bgd_e1e5b)) if SBP.judicious_rounding else __bgd_e1e5b + (__c_rs, offset, length) = get_f32(buf, offset, length) + ret['c_rs'] = judicious_round(nb.f4(__c_rs)) if SBP.judicious_rounding else __c_rs + (__c_rc, offset, length) = get_f32(buf, offset, length) + ret['c_rc'] = judicious_round(nb.f4(__c_rc)) if SBP.judicious_rounding else __c_rc + (__c_uc, offset, length) = get_f32(buf, offset, length) + ret['c_uc'] = judicious_round(nb.f4(__c_uc)) if SBP.judicious_rounding else __c_uc + (__c_us, offset, length) = get_f32(buf, offset, length) + ret['c_us'] = judicious_round(nb.f4(__c_us)) if SBP.judicious_rounding else __c_us + (__c_ic, offset, length) = get_f32(buf, offset, length) + ret['c_ic'] = judicious_round(nb.f4(__c_ic)) if SBP.judicious_rounding else __c_ic + (__c_is, offset, length) = get_f32(buf, offset, length) + ret['c_is'] = judicious_round(nb.f4(__c_is)) if SBP.judicious_rounding else __c_is + (__dn, offset, length) = get_f64(buf, offset, length) + ret['dn'] = __dn + (__m0, offset, length) = get_f64(buf, offset, length) + ret['m0'] = __m0 + (__ecc, offset, length) = get_f64(buf, offset, length) + ret['ecc'] = __ecc + (__sqrta, offset, length) = get_f64(buf, offset, length) + ret['sqrta'] = __sqrta + (__omega0, offset, length) = get_f64(buf, offset, length) + ret['omega0'] = __omega0 + (__omegadot, offset, length) = get_f64(buf, offset, length) + ret['omegadot'] = __omegadot + (__w, offset, length) = get_f64(buf, offset, length) + ret['w'] = __w + (__inc, offset, length) = get_f64(buf, offset, length) + ret['inc'] = __inc + (__inc_dot, offset, length) = get_f64(buf, offset, length) + ret['inc_dot'] = __inc_dot + (__af0, offset, length) = get_f64(buf, offset, length) + ret['af0'] = __af0 + (__af1, offset, length) = get_f64(buf, offset, length) + ret['af1'] = __af1 + (__af2, offset, length) = get_f32(buf, offset, length) + ret['af2'] = judicious_round(nb.f4(__af2)) if SBP.judicious_rounding else __af2 + (__toc, offset, length) = GPSTimeSec.parse_members(buf, offset, length) + ret['toc'] = __toc + (__iode, offset, length) = get_u16(buf, offset, length) + ret['iode'] = __iode + (__iodc, offset, length) = get_u16(buf, offset, length) + ret['iodc'] = __iodc + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.common = res['common'] + self.bgd_e1e5a = res['bgd_e1e5a'] + self.bgd_e1e5b = res['bgd_e1e5b'] + self.c_rs = res['c_rs'] + self.c_rc = res['c_rc'] + self.c_uc = res['c_uc'] + self.c_us = res['c_us'] + self.c_ic = res['c_ic'] + self.c_is = res['c_is'] + self.dn = res['dn'] + self.m0 = res['m0'] + self.ecc = res['ecc'] + self.sqrta = res['sqrta'] + self.omega0 = res['omega0'] + self.omegadot = res['omegadot'] + self.w = res['w'] + self.inc = res['inc'] + self.inc_dot = res['inc_dot'] + self.af0 = res['af0'] + self.af1 = res['af1'] + self.af2 = res['af2'] + self.toc = res['toc'] + self.iode = res['iode'] + self.iodc = res['iodc'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # common: EphemerisCommonContent + ret += EphemerisCommonContent._payload_size() + # bgd_e1e5a: float + ret += 4 + # bgd_e1e5b: float + ret += 4 + # c_rs: float + ret += 4 + # c_rc: float + ret += 4 + # c_uc: float + ret += 4 + # c_us: float + ret += 4 + # c_ic: float + ret += 4 + # c_is: float + ret += 4 + # dn: double + ret += 8 + # m0: double + ret += 8 + # ecc: double + ret += 8 + # sqrta: double + ret += 8 + # omega0: double + ret += 8 + # omegadot: double + ret += 8 + # w: double + ret += 8 + # inc: double + ret += 8 + # inc_dot: double + ret += 8 + # af0: double + ret += 8 + # af1: double + ret += 8 + # af2: float + ret += 4 + # toc: GPSTimeSec + ret += GPSTimeSec._payload_size() + # iode: u16 + ret += 2 + # iodc: u16 + ret += 2 + return ret + +SBP_MSG_EPHEMERIS_GAL = 0x008D class MsgEphemerisGal(SBP): - """SBP class for message MSG_EPHEMERIS_GAL (0x0095). + """SBP class for message MSG_EPHEMERIS_GAL (0x008D). You can have MSG_EPHEMERIS_GAL inherit its fields directly from an inherited SBP object, or construct it inline using a dict @@ -1338,6 +1683,7 @@ class MsgEphemerisGal(SBP): 'toc', 'iode', 'iodc', + 'source', ] @classmethod def parse_members(cls, buf, offset, length): @@ -1390,6 +1736,8 @@ def parse_members(cls, buf, offset, length): ret['iode'] = __iode (__iodc, offset, length) = get_u16(buf, offset, length) ret['iodc'] = __iodc + (__source, offset, length) = get_u8(buf, offset, length) + ret['source'] = __source return ret, offset, length def _unpack_members(self, buf, offset, length): @@ -1420,6 +1768,7 @@ def _unpack_members(self, buf, offset, length): self.toc = res['toc'] self.iode = res['iode'] self.iodc = res['iodc'] + self.source = res['source'] return res, off, length @classmethod @@ -1473,6 +1822,8 @@ def _payload_size(self): ret += 2 # iodc: u16 ret += 2 + # source: u8 + ret += 1 return ret SBP_MSG_EPHEMERIS_SBAS_DEP_A = 0x0082 @@ -4407,8 +4758,10 @@ def _payload_size(self): 0x0081: MsgEphemerisGPSDepE, 0x0086: MsgEphemerisGPSDepF, 0x008A: MsgEphemerisGPS, + 0x008E: MsgEphemerisQzss, 0x0089: MsgEphemerisBds, - 0x0095: MsgEphemerisGal, + 0x0095: MsgEphemerisGalDepA, + 0x008D: MsgEphemerisGal, 0x0082: MsgEphemerisSbasDepA, 0x0083: MsgEphemerisGloDepA, 0x0084: MsgEphemerisSbasDepB, diff --git a/python/sbp/jit/piksi.py b/python/sbp/jit/piksi.py index 8175df26aa..634ee940bb 100644 --- a/python/sbp/jit/piksi.py +++ b/python/sbp/jit/piksi.py @@ -212,21 +212,16 @@ def _payload_size(self): ret += 1 return ret -SBP_MSG_INIT_BASE = 0x0023 -class MsgInitBase(SBP): - """SBP class for message MSG_INIT_BASE (0x0023). +SBP_MSG_INIT_BASE_DEP = 0x0023 +class MsgInitBaseDep(SBP): + """SBP class for message MSG_INIT_BASE_DEP (0x0023). - You can have MSG_INIT_BASE inherit its fields directly + You can have MSG_INIT_BASE_DEP inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields. - This message initializes the integer ambiguity resolution (IAR) -process on the Piksi to use an assumed baseline position between -the base station and rover receivers. Warns via MSG_PRINT if -there aren't a shared minimum number (4) of satellite -observations between the two. - + Deprecated """ __slots__ = [] @@ -1356,7 +1351,7 @@ def _payload_size(self): 0x00C0: MsgCwResults, 0x00C1: MsgCwStart, 0x0022: MsgResetFilters, - 0x0023: MsgInitBase, + 0x0023: MsgInitBaseDep, 0x0017: MsgThreadState, 0x001D: MsgUartState, 0x0018: MsgUartStateDepa, diff --git a/python/sbp/jit/ssr.py b/python/sbp/jit/ssr.py index 47808affdf..6ebfd51b0d 100644 --- a/python/sbp/jit/ssr.py +++ b/python/sbp/jit/ssr.py @@ -130,6 +130,375 @@ def _payload_size(self): ret += 4 return ret +class STECHeader(object): + """SBP class for message STECHeader + + You can have STECHeader inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + A full set of STEC information will likely span multiple SBP +messages, since SBP message a limited to 255 bytes. The header +is used to tie multiple SBP messages into a sequence. + + + """ + __slots__ = ['time', + 'num_msgs', + 'seq_num', + 'ssr_update_interval', + 'iod_ssr', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__time, offset, length) = GPSTime.parse_members(buf, offset, length) + ret['time'] = __time + (__num_msgs, offset, length) = get_u8(buf, offset, length) + ret['num_msgs'] = __num_msgs + (__seq_num, offset, length) = get_u8(buf, offset, length) + ret['seq_num'] = __seq_num + (__ssr_update_interval, offset, length) = get_u16(buf, offset, length) + ret['ssr_update_interval'] = __ssr_update_interval + (__iod_ssr, offset, length) = get_u8(buf, offset, length) + ret['iod_ssr'] = __iod_ssr + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.time = res['time'] + self.num_msgs = res['num_msgs'] + self.seq_num = res['seq_num'] + self.ssr_update_interval = res['ssr_update_interval'] + self.iod_ssr = res['iod_ssr'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # time: GPSTime + ret += GPSTime._payload_size() + # num_msgs: u8 + ret += 1 + # seq_num: u8 + ret += 1 + # ssr_update_interval: u16 + ret += 2 + # iod_ssr: u8 + ret += 1 + return ret + +class GriddedCorrectionHeader(object): + """SBP class for message GriddedCorrectionHeader + + You can have GriddedCorrectionHeader inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + The 3GPP message contains nested variable length arrays +which are not suppported in SBP, so each grid point will +be identified by the index. + + + """ + __slots__ = ['time', + 'num_msgs', + 'seq_num', + 'ssr_update_interval', + 'iod_ssr', + 'tropo_quality', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__time, offset, length) = GPSTime.parse_members(buf, offset, length) + ret['time'] = __time + (__num_msgs, offset, length) = get_u16(buf, offset, length) + ret['num_msgs'] = __num_msgs + (__seq_num, offset, length) = get_u16(buf, offset, length) + ret['seq_num'] = __seq_num + (__ssr_update_interval, offset, length) = get_u16(buf, offset, length) + ret['ssr_update_interval'] = __ssr_update_interval + (__iod_ssr, offset, length) = get_u8(buf, offset, length) + ret['iod_ssr'] = __iod_ssr + (__tropo_quality, offset, length) = get_u8(buf, offset, length) + ret['tropo_quality'] = __tropo_quality + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.time = res['time'] + self.num_msgs = res['num_msgs'] + self.seq_num = res['seq_num'] + self.ssr_update_interval = res['ssr_update_interval'] + self.iod_ssr = res['iod_ssr'] + self.tropo_quality = res['tropo_quality'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # time: GPSTime + ret += GPSTime._payload_size() + # num_msgs: u16 + ret += 2 + # seq_num: u16 + ret += 2 + # ssr_update_interval: u16 + ret += 2 + # iod_ssr: u8 + ret += 1 + # tropo_quality: u8 + ret += 1 + return ret + +class STECSatElement(object): + """SBP class for message STECSatElement + + You can have STECSatElement inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + STEC for the given satellite. + + """ + __slots__ = ['sv_id', + 'stec_quality_indicator', + 'stec_coeff', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__sv_id, offset, length) = SvId.parse_members(buf, offset, length) + ret['sv_id'] = __sv_id + (__stec_quality_indicator, offset, length) = get_u8(buf, offset, length) + ret['stec_quality_indicator'] = __stec_quality_indicator + (__stec_coeff, offset, length) = get_fixed_array(get_s16, 4, 2)(buf, offset, length) + ret['stec_coeff'] = __stec_coeff + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.sv_id = res['sv_id'] + self.stec_quality_indicator = res['stec_quality_indicator'] + self.stec_coeff = res['stec_coeff'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # sv_id: SvId + ret += SvId._payload_size() + # stec_quality_indicator: u8 + ret += 1 + # stec_coeff: array of s16 + ret += 2 * 4 + return ret + +class TroposphericDelayCorrection(object): + """SBP class for message TroposphericDelayCorrection + + You can have TroposphericDelayCorrection inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + Contains wet vertical and hydrostatic vertical delay + + + """ + __slots__ = ['hydro', + 'wet', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__hydro, offset, length) = get_s16(buf, offset, length) + ret['hydro'] = __hydro + (__wet, offset, length) = get_s8(buf, offset, length) + ret['wet'] = __wet + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.hydro = res['hydro'] + self.wet = res['wet'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # hydro: s16 + ret += 2 + # wet: s8 + ret += 1 + return ret + +class STECResidual(object): + """SBP class for message STECResidual + + You can have STECResidual inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + STEC residual + + """ + __slots__ = ['sv_id', + 'residual', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__sv_id, offset, length) = SvId.parse_members(buf, offset, length) + ret['sv_id'] = __sv_id + (__residual, offset, length) = get_s16(buf, offset, length) + ret['residual'] = __residual + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.sv_id = res['sv_id'] + self.residual = res['residual'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # sv_id: SvId + ret += SvId._payload_size() + # residual: s16 + ret += 2 + return ret + +class GridElement(object): + """SBP class for message GridElement + + You can have GridElement inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + Contains one tropo datum, plus STEC residuals for each space +vehicle + + + """ + __slots__ = ['index', + 'tropo_delay_correction', + 'STEC_residuals', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__index, offset, length) = get_u16(buf, offset, length) + ret['index'] = __index + (__tropo_delay_correction, offset, length) = TroposphericDelayCorrection.parse_members(buf, offset, length) + ret['tropo_delay_correction'] = __tropo_delay_correction + (__STEC_residuals, offset, length) = get_array(STECResidual.parse_members)(buf, offset, length) + ret['STEC_residuals'] = __STEC_residuals + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.index = res['index'] + self.tropo_delay_correction = res['tropo_delay_correction'] + self.STEC_residuals = res['STEC_residuals'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # index: u16 + ret += 2 + # tropo_delay_correction: TroposphericDelayCorrection + ret += TroposphericDelayCorrection._payload_size() + # STEC_residuals: array of STECResidual + ret += 247 + return ret + +class GridDefinitionHeader(object): + """SBP class for message GridDefinitionHeader + + You can have GridDefinitionHeader inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + Defines the grid for STEC and tropo grid messages. +Also includes an RLE encoded validity list. + + + """ + __slots__ = ['region_size_inverse', + 'area_width', + 'lat_nw_corner_enc', + 'lon_nw_corner_enc', + 'num_msgs', + 'seq_num', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__region_size_inverse, offset, length) = get_u8(buf, offset, length) + ret['region_size_inverse'] = __region_size_inverse + (__area_width, offset, length) = get_u16(buf, offset, length) + ret['area_width'] = __area_width + (__lat_nw_corner_enc, offset, length) = get_u16(buf, offset, length) + ret['lat_nw_corner_enc'] = __lat_nw_corner_enc + (__lon_nw_corner_enc, offset, length) = get_u16(buf, offset, length) + ret['lon_nw_corner_enc'] = __lon_nw_corner_enc + (__num_msgs, offset, length) = get_u8(buf, offset, length) + ret['num_msgs'] = __num_msgs + (__seq_num, offset, length) = get_u8(buf, offset, length) + ret['seq_num'] = __seq_num + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.region_size_inverse = res['region_size_inverse'] + self.area_width = res['area_width'] + self.lat_nw_corner_enc = res['lat_nw_corner_enc'] + self.lon_nw_corner_enc = res['lon_nw_corner_enc'] + self.num_msgs = res['num_msgs'] + self.seq_num = res['seq_num'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # region_size_inverse: u8 + ret += 1 + # area_width: u16 + ret += 2 + # lat_nw_corner_enc: u16 + ret += 2 + # lon_nw_corner_enc: u16 + ret += 2 + # num_msgs: u8 + ret += 1 + # seq_num: u8 + ret += 1 + return ret + SBP_MSG_SSR_ORBIT_CLOCK = 0x05DD class MsgSsrOrbitClock(SBP): """SBP class for message MSG_SSR_ORBIT_CLOCK (0x05DD). @@ -139,8 +508,8 @@ class MsgSsrOrbitClock(SBP): of its fields. - The precise orbit and clock correction message is -to be applied as a delta correction to broadcast + The precise orbit and clock correction message is +to be applied as a delta correction to broadcast ephemeris and is typically an equivalent to the 1060 and 1066 RTCM message types @@ -256,8 +625,8 @@ class MsgSsrOrbitClockDepA(SBP): of its fields. - The precise orbit and clock correction message is -to be applied as a delta correction to broadcast + The precise orbit and clock correction message is +to be applied as a delta correction to broadcast ephemeris and is typically an equivalent to the 1060 and 1066 RTCM message types @@ -375,7 +744,7 @@ class MsgSsrCodeBiases(SBP): The precise code biases message is to be added to the pseudorange of the corresponding signal -to get corrected pseudorange. It is typically +to get corrected pseudorange. It is typically an equivalent to the 1059 and 1065 RTCM message types @@ -438,9 +807,9 @@ class MsgSsrPhaseBiases(SBP): The precise phase biases message contains the biases to be added to the carrier phase of the corresponding -signal to get corrected carrier phase measurement, as -well as the satellite yaw angle to be applied to compute -the phase wind-up correction. +signal to get corrected carrier phase measurement, as +well as the satellite yaw angle to be applied to compute +the phase wind-up correction. It is typically an equivalent to the 1265 RTCM message types @@ -516,10 +885,141 @@ def _payload_size(self): ret += 247 return ret +SBP_MSG_SSR_STEC_CORRECTION = 0x05EB +class MsgSsrStecCorrection(SBP): + """SBP class for message MSG_SSR_STEC_CORRECTION (0x05EB). + + You can have MSG_SSR_STEC_CORRECTION inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + The STEC per space vehicle, given as polynomial approximation for +a given grid. This should be combined with SSR-GriddedCorrection +message to get the state space representation of the atmospheric +delay. + + + """ + __slots__ = ['header', + 'stec_sat_list', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__header, offset, length) = STECHeader.parse_members(buf, offset, length) + ret['header'] = __header + (__stec_sat_list, offset, length) = get_array(STECSatElement.parse_members)(buf, offset, length) + ret['stec_sat_list'] = __stec_sat_list + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.header = res['header'] + self.stec_sat_list = res['stec_sat_list'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # header: STECHeader + ret += STECHeader._payload_size() + # stec_sat_list: array of STECSatElement + ret += 247 + return ret + +SBP_MSG_SSR_GRIDDED_CORRECTION = 0x05F0 +class MsgSsrGriddedCorrection(SBP): + """SBP class for message MSG_SSR_GRIDDED_CORRECTION (0x05F0). + + You can have MSG_SSR_GRIDDED_CORRECTION inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + STEC residuals are per space vehicle, tropo is not. + + + """ + __slots__ = ['header', + 'element', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__header, offset, length) = GriddedCorrectionHeader.parse_members(buf, offset, length) + ret['header'] = __header + (__element, offset, length) = GridElement.parse_members(buf, offset, length) + ret['element'] = __element + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.header = res['header'] + self.element = res['element'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # header: GriddedCorrectionHeader + ret += GriddedCorrectionHeader._payload_size() + # element: GridElement + ret += GridElement._payload_size() + return ret + +SBP_MSG_SSR_GRID_DEFINITION = 0x05F5 +class MsgSsrGridDefinition(SBP): + """SBP class for message MSG_SSR_GRID_DEFINITION (0x05F5). + + You can have MSG_SSR_GRID_DEFINITION inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + Definition of the grid for STEC and tropo messages + + """ + __slots__ = ['header', + 'rle_list', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__header, offset, length) = GridDefinitionHeader.parse_members(buf, offset, length) + ret['header'] = __header + (__rle_list, offset, length) = get_array(get_u8)(buf, offset, length) + ret['rle_list'] = __rle_list + return ret, offset, length + + def _unpack_members(self, buf, offset, length): + res, off, length = self.parse_members(buf, offset, length) + if off == offset: + return {}, offset, length + self.header = res['header'] + self.rle_list = res['rle_list'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # header: GridDefinitionHeader + ret += GridDefinitionHeader._payload_size() + # rle_list: array of u8 + ret += 247 + return ret + msg_classes = { 0x05DD: MsgSsrOrbitClock, 0x05DC: MsgSsrOrbitClockDepA, 0x05E1: MsgSsrCodeBiases, 0x05E6: MsgSsrPhaseBiases, + 0x05EB: MsgSsrStecCorrection, + 0x05F0: MsgSsrGriddedCorrection, + 0x05F5: MsgSsrGridDefinition, } \ No newline at end of file diff --git a/python/sbp/piksi.py b/python/sbp/piksi.py index 5f7bba81f0..446a697881 100755 --- a/python/sbp/piksi.py +++ b/python/sbp/piksi.py @@ -682,34 +682,29 @@ def to_json_dict(self): d.update(j) return d -SBP_MSG_INIT_BASE = 0x0023 -class MsgInitBase(SBP): - """SBP class for message MSG_INIT_BASE (0x0023). +SBP_MSG_INIT_BASE_DEP = 0x0023 +class MsgInitBaseDep(SBP): + """SBP class for message MSG_INIT_BASE_DEP (0x0023). - You can have MSG_INIT_BASE inherit its fields directly + You can have MSG_INIT_BASE_DEP inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields. - This message initializes the integer ambiguity resolution (IAR) -process on the Piksi to use an assumed baseline position between -the base station and rover receivers. Warns via MSG_PRINT if -there aren't a shared minimum number (4) of satellite -observations between the two. - + Deprecated """ __slots__ = [] def __init__(self, sbp=None, **kwargs): if sbp: - super( MsgInitBase, + super( MsgInitBaseDep, self).__init__(sbp.msg_type, sbp.sender, sbp.length, sbp.payload, sbp.crc) self.payload = sbp.payload else: - super( MsgInitBase, self).__init__() - self.msg_type = SBP_MSG_INIT_BASE + super( MsgInitBaseDep, self).__init__() + self.msg_type = SBP_MSG_INIT_BASE_DEP self.sender = kwargs.pop('sender', SENDER_ID) self.payload = b"" @@ -722,12 +717,12 @@ def from_json(s): """ d = json.loads(s) - return MsgInitBase.from_json_dict(d) + return MsgInitBaseDep.from_json_dict(d) @staticmethod def from_json_dict(d): sbp = SBP.from_json_dict(d) - return MsgInitBase(sbp, **d) + return MsgInitBaseDep(sbp, **d) @@ -2466,7 +2461,7 @@ def to_json_dict(self): 0x00C0: MsgCwResults, 0x00C1: MsgCwStart, 0x0022: MsgResetFilters, - 0x0023: MsgInitBase, + 0x0023: MsgInitBaseDep, 0x0017: MsgThreadState, 0x001D: MsgUartState, 0x0018: MsgUartStateDepa, diff --git a/python/tests/sbp/client/test_driver.py b/python/tests/sbp/client/test_driver.py index f773cf3b16..caa49036b3 100755 --- a/python/tests/sbp/client/test_driver.py +++ b/python/tests/sbp/client/test_driver.py @@ -9,7 +9,7 @@ # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. -from sbp.client.drivers.pyserial_driver import PySerialDriver +from sbp.client.drivers.network_drivers import TCPDriver from sbp.client import Handler, Framer from sbp.logging import MsgPrintDep, MsgLog, SBP_MSG_PRINT_DEP import pytest @@ -39,8 +39,6 @@ def tcp_server(handler): def test_tcp_logger(): handler = tcp_handler(MsgPrintDep(text=b'abc').to_binary()) ip, port = tcp_server(handler) - port = "socket://%s:%s" % (ip, port) - baud = 115200 t0 = time.time() sleep = 0.1 timeout = 5.0 @@ -53,7 +51,7 @@ def assert_logger(s, **metadata): assert s.length==3 assert s.payload==b'abc' assert s.crc==0xDAEE - with PySerialDriver(port, baud) as driver: + with TCPDriver(ip, port) as driver: with Handler(Framer(driver.read, None, verbose=False), autostart=False) as link: link.add_callback(assert_logger) link.start() diff --git a/spec/yaml/swiftnav/sbp/piksi.yaml b/spec/yaml/swiftnav/sbp/piksi.yaml index 03b589d4f3..355ea9250c 100644 --- a/spec/yaml/swiftnav/sbp/piksi.yaml +++ b/spec/yaml/swiftnav/sbp/piksi.yaml @@ -97,15 +97,10 @@ definitions: - 1: IAR process - 2: Inertial filter - - MSG_INIT_BASE: + - MSG_INIT_BASE_DEP: id: 0x0023 - short_desc: Initialize IAR from known baseline (host => device) - desc: | - This message initializes the integer ambiguity resolution (IAR) - process on the Piksi to use an assumed baseline position between - the base station and rover receivers. Warns via MSG_PRINT if - there aren't a shared minimum number (4) of satellite - observations between the two. + short_desc: Deprecated + desc: Deprecated - MSG_THREAD_STATE: id: 0x0017