Deprecate MSG_INIT_BASE [ESD-1286]

Makefile

@@ -49,14 +49,15 @@ 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"
 	@echo "  release   to handle some release tasks"
 	@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

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

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

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

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:

java/src/com/swiftnav/sbp/piksi/MsgInitBase.java → 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;
     }

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,

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

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