From 6dfe5d535f4f482107aa62211b02643305acc5ec Mon Sep 17 00:00:00 2001 From: Joseph Angelo Date: Thu, 10 Oct 2019 15:45:23 -0700 Subject: [PATCH 1/2] Added the Protection level message definition to the spec --- spec/yaml/swiftnav/sbp/navigation.yaml | 48 ++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) diff --git a/spec/yaml/swiftnav/sbp/navigation.yaml b/spec/yaml/swiftnav/sbp/navigation.yaml index 01e99248f2..d28661828f 100644 --- a/spec/yaml/swiftnav/sbp/navigation.yaml +++ b/spec/yaml/swiftnav/sbp/navigation.yaml @@ -1370,3 +1370,51 @@ definitions: values: - 0: Float RTK - 1: Fixed RTK + + - MSG_PROTECTION_LEVEL: + public: false + id: 0x0216 + short_desc: Computed Position and Protection Level + desc: | + This message reports the local vertical and horizontal protection levels + associated with a given LLH position solution. The full GPS time is given + by the preceding MSG_GPS_TIME with the matching time-of-week (tow). + fields: + - tow: + type: u32 + units: ms + desc: GPS Time of Week + - vpl: + type: u16 + units: cm + desc: Vertical protection level + - hpl: + type: u16 + units: cm + desc: Horizontal protection level + - lat: + type: double + units: deg + desc: Latitude + - lon: + type: double + units: deg + desc: Longitude + - height: + type: double + units: m + desc: Height + - flags: + type: u8 + desc: Status flags + fields: + - 0-2: + desc: Target Integrity Risk (TIR) Level + values: + - 0: Safe state, protection level shall not be used for safety-critical application + - 1: TIR Level 1 + - 2: TIR Level 2 + - 3: TIR Level 3 + - 3-7: + desc: Reserved + From 68f9c92b6e34ee0c5110b75854186092636a846b Mon Sep 17 00:00:00 2001 From: Joseph Angelo Date: Thu, 10 Oct 2019 15:50:05 -0700 Subject: [PATCH 2/2] Regenerated all the files --- c/include/libsbp/navigation.h | 18 +++ c/include/libsbp/sbp_handler.hpp | 6 + haskell/src/SwiftNav/SBP/Msg.hs | 6 + haskell/src/SwiftNav/SBP/Navigation.hs | 49 +++++++ .../com/swiftnav/sbp/client/MessageTable.java | 3 + .../sbp/navigation/MsgProtectionLevel.java | 103 +++++++++++++++ javascript/sbp.bundle.js | 2 +- javascript/sbp/navigation.js | 49 +++++++ proto/navigation.proto | 16 +++ python/sbp/jit/navigation.py | 75 +++++++++++ python/sbp/navigation.py | 123 ++++++++++++++++++ python/tests/sbp/test_table.py | 2 +- rust/sbp/src/messages/mod.rs | 7 + rust/sbp/src/messages/navigation.rs | 52 ++++++++ 14 files changed, 509 insertions(+), 2 deletions(-) create mode 100644 c/include/libsbp/sbp_handler.hpp create mode 100644 java/src/com/swiftnav/sbp/navigation/MsgProtectionLevel.java diff --git a/c/include/libsbp/navigation.h b/c/include/libsbp/navigation.h index a48d18b12b..8b0d2bf857 100644 --- a/c/include/libsbp/navigation.h +++ b/c/include/libsbp/navigation.h @@ -589,6 +589,24 @@ typedef struct SBP_ATTR_PACKED { } msg_baseline_heading_dep_a_t; +/** Computed Position and Protection Level + * + * This message reports the local vertical and horizontal protection levels + * associated with a given LLH position solution. The full GPS time is given + * by the preceding MSG_GPS_TIME with the matching time-of-week (tow). + */ +#define SBP_MSG_PROTECTION_LEVEL 0x0216 +typedef struct SBP_ATTR_PACKED { + u32 tow; /**< GPS Time of Week [ms] */ + u16 vpl; /**< Vertical protection level [cm] */ + u16 hpl; /**< Horizontal protection level [cm] */ + double lat; /**< Latitude [deg] */ + double lon; /**< Longitude [deg] */ + double height; /**< Height [m] */ + u8 flags; /**< Status flags */ +} msg_protection_level_t; + + /** \} */ SBP_PACK_END diff --git a/c/include/libsbp/sbp_handler.hpp b/c/include/libsbp/sbp_handler.hpp new file mode 100644 index 0000000000..3a70db9e82 --- /dev/null +++ b/c/include/libsbp/sbp_handler.hpp @@ -0,0 +1,6 @@ +#ifndef LIBSBP_SBP_HANDLER_HPP_ +#define LIBSBP_SBP_HANDLER_HPP_ + +#include + +#endif /* LIBSBP_SBP_HANDLER_HPP_ */ diff --git a/haskell/src/SwiftNav/SBP/Msg.hs b/haskell/src/SwiftNav/SBP/Msg.hs index a29635f3b4..bea662a435 100644 --- a/haskell/src/SwiftNav/SBP/Msg.hs +++ b/haskell/src/SwiftNav/SBP/Msg.hs @@ -176,6 +176,7 @@ data SBPMsg = | SBPMsgPosLlhCov MsgPosLlhCov Msg | SBPMsgPosLlhDepA MsgPosLlhDepA Msg | SBPMsgPrintDep MsgPrintDep Msg + | SBPMsgProtectionLevel MsgProtectionLevel Msg | SBPMsgReset MsgReset Msg | SBPMsgResetDep MsgResetDep Msg | SBPMsgResetFilters MsgResetFilters Msg @@ -362,6 +363,7 @@ instance Binary SBPMsg where | _msgSBPType == msgPosLlhCov = SBPMsgPosLlhCov (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosLlhDepA = SBPMsgPosLlhDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgProtectionLevel = SBPMsgProtectionLevel (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgReset = SBPMsgReset (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgResetDep = SBPMsgResetDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -540,6 +542,7 @@ instance Binary SBPMsg where encoder (SBPMsgPosLlhCov _ m) = put m encoder (SBPMsgPosLlhDepA _ m) = put m encoder (SBPMsgPrintDep _ m) = put m + encoder (SBPMsgProtectionLevel _ m) = put m encoder (SBPMsgReset _ m) = put m encoder (SBPMsgResetDep _ m) = put m encoder (SBPMsgResetFilters _ m) = put m @@ -722,6 +725,7 @@ instance FromJSON SBPMsg where | msgType == msgPosLlhCov = SBPMsgPosLlhCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosLlhDepA = SBPMsgPosLlhDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPrintDep = SBPMsgPrintDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgProtectionLevel = SBPMsgProtectionLevel <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgReset = SBPMsgReset <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgResetDep = SBPMsgResetDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgResetFilters = SBPMsgResetFilters <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -905,6 +909,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgPosLlhCov n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosLlhDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPrintDep n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgProtectionLevel n m) = toJSON n <<>> toJSON m toJSON (SBPMsgReset n m) = toJSON n <<>> toJSON m toJSON (SBPMsgResetDep _ m) = toJSON m toJSON (SBPMsgResetFilters n m) = toJSON n <<>> toJSON m @@ -1082,6 +1087,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgPosLlhCov n m) = SBPMsgPosLlhCov n <$> f m msg f (SBPMsgPosLlhDepA n m) = SBPMsgPosLlhDepA n <$> f m msg f (SBPMsgPrintDep n m) = SBPMsgPrintDep n <$> f m + msg f (SBPMsgProtectionLevel n m) = SBPMsgProtectionLevel n <$> f m msg f (SBPMsgReset n m) = SBPMsgReset n <$> f m msg f (SBPMsgResetDep n m) = SBPMsgResetDep n <$> f m msg f (SBPMsgResetFilters n m) = SBPMsgResetFilters n <$> f m diff --git a/haskell/src/SwiftNav/SBP/Navigation.hs b/haskell/src/SwiftNav/SBP/Navigation.hs index 5137bdac0f..eec1c47d2e 100644 --- a/haskell/src/SwiftNav/SBP/Navigation.hs +++ b/haskell/src/SwiftNav/SBP/Navigation.hs @@ -1354,3 +1354,52 @@ instance Binary MsgBaselineHeadingDepA where $(makeSBP 'msgBaselineHeadingDepA ''MsgBaselineHeadingDepA) $(makeJSON "_msgBaselineHeadingDepA_" ''MsgBaselineHeadingDepA) $(makeLenses ''MsgBaselineHeadingDepA) + +msgProtectionLevel :: Word16 +msgProtectionLevel = 0x0216 + +-- | SBP class for message MSG_PROTECTION_LEVEL (0x0216). +-- +-- This message reports the local vertical and horizontal protection levels +-- associated with a given LLH position solution. The full GPS time is given by +-- the preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgProtectionLevel = MsgProtectionLevel + { _msgProtectionLevel_tow :: !Word32 + -- ^ GPS Time of Week + , _msgProtectionLevel_vpl :: !Word16 + -- ^ Vertical protection level + , _msgProtectionLevel_hpl :: !Word16 + -- ^ Horizontal protection level + , _msgProtectionLevel_lat :: !Double + -- ^ Latitude + , _msgProtectionLevel_lon :: !Double + -- ^ Longitude + , _msgProtectionLevel_height :: !Double + -- ^ Height + , _msgProtectionLevel_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgProtectionLevel where + get = do + _msgProtectionLevel_tow <- getWord32le + _msgProtectionLevel_vpl <- getWord16le + _msgProtectionLevel_hpl <- getWord16le + _msgProtectionLevel_lat <- getFloat64le + _msgProtectionLevel_lon <- getFloat64le + _msgProtectionLevel_height <- getFloat64le + _msgProtectionLevel_flags <- getWord8 + pure MsgProtectionLevel {..} + + put MsgProtectionLevel {..} = do + putWord32le _msgProtectionLevel_tow + putWord16le _msgProtectionLevel_vpl + putWord16le _msgProtectionLevel_hpl + putFloat64le _msgProtectionLevel_lat + putFloat64le _msgProtectionLevel_lon + putFloat64le _msgProtectionLevel_height + putWord8 _msgProtectionLevel_flags + +$(makeSBP 'msgProtectionLevel ''MsgProtectionLevel) +$(makeJSON "_msgProtectionLevel_" ''MsgProtectionLevel) +$(makeLenses ''MsgProtectionLevel) diff --git a/java/src/com/swiftnav/sbp/client/MessageTable.java b/java/src/com/swiftnav/sbp/client/MessageTable.java index 362c90f6b4..b7e1709b9b 100644 --- a/java/src/com/swiftnav/sbp/client/MessageTable.java +++ b/java/src/com/swiftnav/sbp/client/MessageTable.java @@ -85,6 +85,7 @@ import com.swiftnav.sbp.navigation.MsgVelECEFDepA; import com.swiftnav.sbp.navigation.MsgVelNEDDepA; import com.swiftnav.sbp.navigation.MsgBaselineHeadingDepA; +import com.swiftnav.sbp.navigation.MsgProtectionLevel; import com.swiftnav.sbp.ndb.MsgNdbEvent; import com.swiftnav.sbp.observation.MsgObs; import com.swiftnav.sbp.observation.MsgBasePosLLH; @@ -332,6 +333,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException { return new MsgVelNEDDepA(msg); case MsgBaselineHeadingDepA.TYPE: return new MsgBaselineHeadingDepA(msg); + case MsgProtectionLevel.TYPE: + return new MsgProtectionLevel(msg); case MsgNdbEvent.TYPE: return new MsgNdbEvent(msg); case MsgObs.TYPE: diff --git a/java/src/com/swiftnav/sbp/navigation/MsgProtectionLevel.java b/java/src/com/swiftnav/sbp/navigation/MsgProtectionLevel.java new file mode 100644 index 0000000000..a094c1b8db --- /dev/null +++ b/java/src/com/swiftnav/sbp/navigation/MsgProtectionLevel.java @@ -0,0 +1,103 @@ +/* + * Copyright (C) 2015-2018 Swift Navigation Inc. + * Contact: Swift Navigation + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +package com.swiftnav.sbp.navigation; + +import java.math.BigInteger; + +import com.swiftnav.sbp.SBPMessage; +import com.swiftnav.sbp.SBPBinaryException; +import com.swiftnav.sbp.SBPStruct; + +import org.json.JSONObject; +import org.json.JSONArray; + + +/** SBP class for message MSG_PROTECTION_LEVEL (0x0216). + * + * You can have MSG_PROTECTION_LEVEL inherent its fields directly from + * an inherited SBP object, or construct it inline using a dict of its + * fields. + * + * This message reports the local vertical and horizontal protection levels + * associated with a given LLH position solution. The full GPS time is given + * by the preceding MSG_GPS_TIME with the matching time-of-week (tow). */ + +public class MsgProtectionLevel extends SBPMessage { + public static final int TYPE = 0x0216; + + + /** GPS Time of Week */ + public long tow; + + /** Vertical protection level */ + public int vpl; + + /** Horizontal protection level */ + public int hpl; + + /** Latitude */ + public double lat; + + /** Longitude */ + public double lon; + + /** Height */ + public double height; + + /** Status flags */ + public int flags; + + + public MsgProtectionLevel (int sender) { super(sender, TYPE); } + public MsgProtectionLevel () { super(TYPE); } + public MsgProtectionLevel (SBPMessage msg) throws SBPBinaryException { + super(msg); + assert msg.type != TYPE; + } + + @Override + protected void parse(Parser parser) throws SBPBinaryException { + /* Parse fields from binary */ + tow = parser.getU32(); + vpl = parser.getU16(); + hpl = parser.getU16(); + lat = parser.getDouble(); + lon = parser.getDouble(); + height = parser.getDouble(); + flags = parser.getU8(); + } + + @Override + protected void build(Builder builder) { + builder.putU32(tow); + builder.putU16(vpl); + builder.putU16(hpl); + builder.putDouble(lat); + builder.putDouble(lon); + builder.putDouble(height); + builder.putU8(flags); + } + + @Override + public JSONObject toJSON() { + JSONObject obj = super.toJSON(); + obj.put("tow", tow); + obj.put("vpl", vpl); + obj.put("hpl", hpl); + obj.put("lat", lat); + obj.put("lon", lon); + obj.put("height", height); + obj.put("flags", flags); + return obj; + } +} \ No newline at end of file diff --git a/javascript/sbp.bundle.js b/javascript/sbp.bundle.js index af95528bb7..b803474aa9 100644 --- a/javascript/sbp.bundle.js +++ b/javascript/sbp.bundle.js @@ -12,4 +12,4 @@ var p=r(24),o=r(25),i=r(17);function s(){return a.TYPED_ARRAY_SUPPORT?2147483647 * @author Feross Aboukhadijeh * @license MIT */ -function p(e,t){if(e===t)return 0;for(var r=e.length,p=t.length,o=0,i=Math.min(r,p);o=0;l--)if(c[l]!==u[l])return!1;for(l=c.length-1;l>=0;l--)if(a=c[l],!g(e[a],t[a],r,p))return!1;return!0}(e,t,r,s))}return r?e===t:e==t}function w(e){return"[object Arguments]"==Object.prototype.toString.call(e)}function E(e,t){if(!e||!t)return!1;if("[object RegExp]"==Object.prototype.toString.call(t))return t.test(e);try{if(e instanceof t)return!0}catch(e){}return!Error.isPrototypeOf(t)&&!0===t.call({},e)}function m(e,t,r,p){var o;if("function"!=typeof t)throw new TypeError('"block" argument must be a function');"string"==typeof r&&(p=r,r=null),o=function(e){var t;try{e()}catch(e){t=e}return t}(t),p=(r&&r.name?" 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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 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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 o).endianess("little").uint32("sys_fd_count").string("most_opened",{greedy:!0}),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sys_fd_count","writeUInt32LE",4]),y.prototype.fieldSpec.push(["most_opened","string",null]),e.exports={32512:i,MsgLinuxCpuState:i,32513:s,MsgLinuxMemState:s,32514:n,MsgLinuxSysState:n,32515:a,MsgLinuxProcessSocketCounts:a,32516:l,MsgLinuxProcessSocketQueues:l,32517:c,MsgLinuxSocketUsage:c,32518:u,MsgLinuxProcessFdCount:u,32519:y,MsgLinuxProcessFdSummary:y}},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_LOG",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_LOG",i.prototype.msg_type=1025,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint8("level").string("text",{greedy:!0}),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["level","writeUInt8",1]),i.prototype.fieldSpec.push(["text","string",null]);var 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 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L=function(e,t){return p.call(this,e),this.messageType="MSG_EPHEMERIS_QZSS",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_EPHEMERIS_QZSS",L.prototype.msg_type=142,L.prototype.constructor=L,L.prototype.parser=(new 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T=function(e,t){return p.call(this,e),this.messageType="MSG_EPHEMERIS_BDS",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="MSG_EPHEMERIS_BDS",T.prototype.msg_type=137,T.prototype.constructor=T,T.prototype.parser=(new 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I=function(e,t){return p.call(this,e),this.messageType="MSG_EPHEMERIS_GAL_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_EPHEMERIS_GAL_DEP_A",I.prototype.msg_type=149,I.prototype.constructor=I,I.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_OSR",this.fields=t||this.parser.parse(e.payload),this};(ce.prototype=Object.create(p.prototype)).messageType="MSG_OSR",ce.prototype.msg_type=1600,ce.prototype.constructor=ce,ce.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).array("obs",{type:f.prototype.parser,readUntil:"eof"}),ce.prototype.fieldSpec=[],ce.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),ce.prototype.fieldSpec.push(["obs","array",f.prototype.fieldSpec,function(){return 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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,n=r(0).GPSTime,r(0).GPSTimeSec,r(0).GPSTimeDep),l=(r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_ALMANAC",this.fields=t||this.parser.parse(e.payload),this});(l.prototype=Object.create(p.prototype)).messageType="MSG_ALMANAC",l.prototype.msg_type=105,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little"),l.prototype.fieldSpec=[];var c=function(e,t){return p.call(this,e),this.messageType="MSG_SET_TIME",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_SET_TIME",c.prototype.msg_type=104,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little"),c.prototype.fieldSpec=[];var u=function(e,t){return p.call(this,e),this.messageType="MSG_RESET",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_RESET",u.prototype.msg_type=182,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("flags"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_RESET_DEP",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_RESET_DEP",y.prototype.msg_type=178,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_CW_RESULTS",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_CW_RESULTS",h.prototype.msg_type=192,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little"),h.prototype.fieldSpec=[];var f=function(e,t){return p.call(this,e),this.messageType="MSG_CW_START",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_CW_START",f.prototype.msg_type=193,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little"),f.prototype.fieldSpec=[];var d=function(e,t){return p.call(this,e),this.messageType="MSG_RESET_FILTERS",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="MSG_RESET_FILTERS",d.prototype.msg_type=34,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").uint8("filter"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["filter","writeUInt8",1]);var _=function(e,t){return p.call(this,e),this.messageType="MSG_INIT_BASE_DEP",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="MSG_INIT_BASE_DEP",_.prototype.msg_type=35,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little"),_.prototype.fieldSpec=[];var S=function(e,t){return p.call(this,e),this.messageType="MSG_THREAD_STATE",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_THREAD_STATE",S.prototype.msg_type=23,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").string("name",{length:20}).uint16("cpu").uint32("stack_free"),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["name","string",20]),S.prototype.fieldSpec.push(["cpu","writeUInt16LE",2]),S.prototype.fieldSpec.push(["stack_free","writeUInt32LE",4]);var g=function(e,t){return p.call(this,e),this.messageType="UARTChannel",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.prototype)).messageType="UARTChannel",g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").floatle("tx_throughput").floatle("rx_throughput").uint16("crc_error_count").uint16("io_error_count").uint8("tx_buffer_level").uint8("rx_buffer_level"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["tx_throughput","writeFloatLE",4]),g.prototype.fieldSpec.push(["rx_throughput","writeFloatLE",4]),g.prototype.fieldSpec.push(["crc_error_count","writeUInt16LE",2]),g.prototype.fieldSpec.push(["io_error_count","writeUInt16LE",2]),g.prototype.fieldSpec.push(["tx_buffer_level","writeUInt8",1]),g.prototype.fieldSpec.push(["rx_buffer_level","writeUInt8",1]);var w=function(e,t){return p.call(this,e),this.messageType="Period",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="Period",w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").int32("avg").int32("pmin").int32("pmax").int32("current"),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["avg","writeInt32LE",4]),w.prototype.fieldSpec.push(["pmin","writeInt32LE",4]),w.prototype.fieldSpec.push(["pmax","writeInt32LE",4]),w.prototype.fieldSpec.push(["current","writeInt32LE",4]);var E=function(e,t){return p.call(this,e),this.messageType="Latency",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="Latency",E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").int32("avg").int32("lmin").int32("lmax").int32("current"),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["avg","writeInt32LE",4]),E.prototype.fieldSpec.push(["lmin","writeInt32LE",4]),E.prototype.fieldSpec.push(["lmax","writeInt32LE",4]),E.prototype.fieldSpec.push(["current","writeInt32LE",4]);var m=function(e,t){return p.call(this,e),this.messageType="MSG_UART_STATE",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_UART_STATE",m.prototype.msg_type=29,m.prototype.constructor=m,m.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}).nest("obs_period",{type:w.prototype.parser}),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["uart_a",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["uart_b",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["uart_ftdi",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["latency",E.prototype.fieldSpec]),m.prototype.fieldSpec.push(["obs_period",w.prototype.fieldSpec]);var b=function(e,t){return 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 o).endianess("little").uint32("num_hyps"),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["num_hyps","writeUInt32LE",4]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE",L.prototype.msg_type=43,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:i.prototype.parser}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["mask","writeUInt8",1]),L.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]);var T=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE_DEP",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE_DEP",T.prototype.msg_type=27,T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:s.prototype.parser}),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["mask","writeUInt8",1]),T.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]);var I=function(e,t){return p.call(this,e),this.messageType="MSG_DEVICE_MONITOR",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_DEVICE_MONITOR",I.prototype.msg_type=181,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").int16("dev_vin").int16("cpu_vint").int16("cpu_vaux").int16("cpu_temperature").int16("fe_temperature"),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["dev_vin","writeInt16LE",2]),I.prototype.fieldSpec.push(["cpu_vint","writeInt16LE",2]),I.prototype.fieldSpec.push(["cpu_vaux","writeInt16LE",2]),I.prototype.fieldSpec.push(["cpu_temperature","writeInt16LE",2]),I.prototype.fieldSpec.push(["fe_temperature","writeInt16LE",2]);var M=function(e,t){return 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 1},16]),A.prototype.fieldSpec.push(["ipv6_mask_size","writeUInt8",1]),A.prototype.fieldSpec.push(["rx_bytes","writeUInt32LE",4]),A.prototype.fieldSpec.push(["tx_bytes","writeUInt32LE",4]),A.prototype.fieldSpec.push(["interface_name","string",16]),A.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var G=function(e,t){return p.call(this,e),this.messageType="NetworkUsage",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(p.prototype)).messageType="NetworkUsage",G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").uint64("duration").uint64("total_bytes").uint32("rx_bytes").uint32("tx_bytes").string("interface_name",{length:16}),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["duration","writeUInt64LE",8]),G.prototype.fieldSpec.push(["total_bytes","writeUInt64LE",8]),G.prototype.fieldSpec.push(["rx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["tx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["interface_name","string",16]);var R=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_BANDWIDTH_USAGE",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_BANDWIDTH_USAGE",R.prototype.msg_type=189,R.prototype.constructor=R,R.prototype.parser=(new o).endianess("little").array("interfaces",{type:G.prototype.parser,readUntil:"eof"}),R.prototype.fieldSpec=[],R.prototype.fieldSpec.push(["interfaces","array",G.prototype.fieldSpec,function(){return this.fields.array.length},null]);var 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 o).endianess("little").uint16("channel_tag").nest("t",{type:a.prototype.parser}).floatle("freq_ref").floatle("freq_step").floatle("amplitude_ref").floatle("amplitude_unit").array("amplitude_value",{type:"uint8",readUntil:"eof"}),C.prototype.fieldSpec=[],C.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),C.prototype.fieldSpec.push(["t",a.prototype.fieldSpec]),C.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),C.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),C.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),C.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),C.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var j=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN",this.fields=t||this.parser.parse(e.payload),this};(j.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN",j.prototype.msg_type=81,j.prototype.constructor=j,j.prototype.parser=(new 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 p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=(r(0).GnssSignalDep,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_SBAS_RAW",this.fields=t||this.parser.parse(e.payload),this});(s.prototype=Object.create(p.prototype)).messageType="MSG_SBAS_RAW",s.prototype.msg_type=30583,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint32("tow").uint8("message_type").array("data",{length:27,type:"uint8"}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),s.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),s.prototype.fieldSpec.push(["message_type","writeUInt8",1]),s.prototype.fieldSpec.push(["data","array","writeUInt8",function(){return 1},27]),e.exports={30583:s,MsgSbasRaw:s}},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_SETTINGS_SAVE",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_SAVE",i.prototype.msg_type=161,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_SETTINGS_WRITE",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_WRITE",s.prototype.msg_type=160,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").string("setting",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["setting","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_WRITE_RESP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_WRITE_RESP",n.prototype.msg_type=175,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint8("status").string("setting",{greedy:!0}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["status","writeUInt8",1]),n.prototype.fieldSpec.push(["setting","string",null]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_READ_REQ",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_READ_REQ",a.prototype.msg_type=164,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").string("setting",{greedy:!0}),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["setting","string",null]);var l=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_READ_RESP",l.prototype.msg_type=165,l.prototype.constructor=l,l.prototype.parser=(new 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 o).endianess("little").uint16("index").string("setting",{greedy:!0}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["index","writeUInt16LE",2]),u.prototype.fieldSpec.push(["setting","string",null]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_SETTINGS_READ_BY_INDEX_DONE",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_READ_BY_INDEX_DONE",y.prototype.msg_type=166,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_SETTINGS_REGISTER",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_SETTINGS_REGISTER",h.prototype.msg_type=174,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").string("setting",{greedy:!0}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["setting","string",null]);var f=function(e,t){return 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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p.call(this,e),this.messageType="STECHeader",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="STECHeader",c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint8("num_msgs").uint8("seq_num").uint8("update_interval").uint8("iod_atmo"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),c.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),c.prototype.fieldSpec.push(["seq_num","writeUInt8",1]),c.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),c.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]);var u=function(e,t){return p.call(this,e),this.messageType="GriddedCorrectionHeader",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="GriddedCorrectionHeader",u.prototype.constructor=u,u.prototype.parser=(new 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g=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};(g.prototype=Object.create(p.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",g.prototype.msg_type=1500,g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").nest("time",{type:s.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"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),g.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),g.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),g.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),g.prototype.fieldSpec.push(["iod","writeUInt8",1]),g.prototype.fieldSpec.push(["radial","writeInt32LE",4]),g.prototype.fieldSpec.push(["along","writeInt32LE",4]),g.prototype.fieldSpec.push(["cross","writeInt32LE",4]),g.prototype.fieldSpec.push(["dot_radial","writeInt32LE",4]),g.prototype.fieldSpec.push(["dot_along","writeInt32LE",4]),g.prototype.fieldSpec.push(["dot_cross","writeInt32LE",4]),g.prototype.fieldSpec.push(["c0","writeInt32LE",4]),g.prototype.fieldSpec.push(["c1","writeInt32LE",4]),g.prototype.fieldSpec.push(["c2","writeInt32LE",4]);var w=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_CODE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="MSG_SSR_CODE_BIASES",w.prototype.msg_type=1505,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").array("biases",{type:a.prototype.parser,readUntil:"eof"}),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["time",s.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(["biases","array",a.prototype.fieldSpec,function(){return this.fields.array.length},null]);var E=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_PHASE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="MSG_SSR_PHASE_BIASES",E.prototype.msg_type=1510,E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").nest("time",{type:s.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:l.prototype.parser,readUntil:"eof"}),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["time",s.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(["dispersive_bias","writeUInt8",1]),E.prototype.fieldSpec.push(["mw_consistency","writeUInt8",1]),E.prototype.fieldSpec.push(["yaw","writeUInt16LE",2]),E.prototype.fieldSpec.push(["yaw_rate","writeInt8",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_STEC_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION",m.prototype.msg_type=1515,m.prototype.constructor=m,m.prototype.parser=(new o).endianess("little").nest("header",{type:c.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["header",c.prototype.fieldSpec]),m.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var b=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION",b.prototype.msg_type=1520,b.prototype.constructor=b,b.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).nest("element",{type:d.prototype.parser}),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),b.prototype.fieldSpec.push(["element",d.prototype.fieldSpec]);var v=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRID_DEFINITION",v.prototype.msg_type=1525,v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").nest("header",{type:_.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["header",_.prototype.fieldSpec]),v.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]),e.exports={CodeBiasesContent:a,PhaseBiasesContent:l,STECHeader:c,GriddedCorrectionHeader:u,STECSatElement:y,TroposphericDelayCorrection:h,STECResidual:f,GridElement:d,GridDefinitionHeader:_,1501:S,MsgSsrOrbitClock:S,1500:g,MsgSsrOrbitClockDepA:g,1505:w,MsgSsrCodeBiases:w,1510:E,MsgSsrPhaseBiases:E,1515:m,MsgSsrStecCorrection:m,1520:b,MsgSsrGriddedCorrection:b,1525:v,MsgSsrGridDefinition:v}},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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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 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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_IMU_RAW",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_IMU_RAW",i.prototype.msg_type=2304,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").uint8("tow_f").int16("acc_x").int16("acc_y").int16("acc_z").int16("gyr_x").int16("gyr_y").int16("gyr_z"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["tow_f","writeUInt8",1]),i.prototype.fieldSpec.push(["acc_x","writeInt16LE",2]),i.prototype.fieldSpec.push(["acc_y","writeInt16LE",2]),i.prototype.fieldSpec.push(["acc_z","writeInt16LE",2]),i.prototype.fieldSpec.push(["gyr_x","writeInt16LE",2]),i.prototype.fieldSpec.push(["gyr_y","writeInt16LE",2]),i.prototype.fieldSpec.push(["gyr_z","writeInt16LE",2]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_IMU_AUX",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_IMU_AUX",s.prototype.msg_type=2305,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("imu_type").int16("temp").uint8("imu_conf"),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["imu_type","writeUInt8",1]),s.prototype.fieldSpec.push(["temp","writeInt16LE",2]),s.prototype.fieldSpec.push(["imu_conf","writeUInt8",1]),e.exports={2304:i,MsgImuRaw:i,2305:s,MsgImuAux:s}},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_LINUX_CPU_STATE",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_CPU_STATE",i.prototype.msg_type=32512,i.prototype.constructor=i,i.prototype.parser=(new 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o).endianess("little").uint16("mem_total").uint8("pcpu").uint8("pmem").uint16("procs_starting").uint16("procs_stopping").uint16("pid_count"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["mem_total","writeUInt16LE",2]),n.prototype.fieldSpec.push(["pcpu","writeUInt8",1]),n.prototype.fieldSpec.push(["pmem","writeUInt8",1]),n.prototype.fieldSpec.push(["procs_starting","writeUInt16LE",2]),n.prototype.fieldSpec.push(["procs_stopping","writeUInt16LE",2]),n.prototype.fieldSpec.push(["pid_count","writeUInt16LE",2]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_LINUX_PROCESS_SOCKET_COUNTS",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_SOCKET_COUNTS",a.prototype.msg_type=32515,a.prototype.constructor=a,a.prototype.parser=(new 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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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p.call(this,e),this.messageType="MSG_AGE_CORRECTIONS",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="MSG_AGE_CORRECTIONS",w.prototype.msg_type=528,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").uint32("tow").uint16("age"),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),w.prototype.fieldSpec.push(["age","writeUInt16LE",2]);var E=function(e,t){return p.call(this,e),this.messageType="MSG_GPS_TIME_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="MSG_GPS_TIME_DEP_A",E.prototype.msg_type=256,E.prototype.constructor=E,E.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_OSR",this.fields=t||this.parser.parse(e.payload),this};(ce.prototype=Object.create(p.prototype)).messageType="MSG_OSR",ce.prototype.msg_type=1600,ce.prototype.constructor=ce,ce.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).array("obs",{type:f.prototype.parser,readUntil:"eof"}),ce.prototype.fieldSpec=[],ce.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),ce.prototype.fieldSpec.push(["obs","array",f.prototype.fieldSpec,function(){return 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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,n=r(0).GPSTime,r(0).GPSTimeSec,r(0).GPSTimeDep),l=(r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_ALMANAC",this.fields=t||this.parser.parse(e.payload),this});(l.prototype=Object.create(p.prototype)).messageType="MSG_ALMANAC",l.prototype.msg_type=105,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little"),l.prototype.fieldSpec=[];var c=function(e,t){return p.call(this,e),this.messageType="MSG_SET_TIME",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_SET_TIME",c.prototype.msg_type=104,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little"),c.prototype.fieldSpec=[];var u=function(e,t){return p.call(this,e),this.messageType="MSG_RESET",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_RESET",u.prototype.msg_type=182,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("flags"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_RESET_DEP",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_RESET_DEP",y.prototype.msg_type=178,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_CW_RESULTS",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_CW_RESULTS",h.prototype.msg_type=192,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little"),h.prototype.fieldSpec=[];var f=function(e,t){return p.call(this,e),this.messageType="MSG_CW_START",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_CW_START",f.prototype.msg_type=193,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little"),f.prototype.fieldSpec=[];var d=function(e,t){return p.call(this,e),this.messageType="MSG_RESET_FILTERS",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(p.prototype)).messageType="MSG_RESET_FILTERS",d.prototype.msg_type=34,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").uint8("filter"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["filter","writeUInt8",1]);var _=function(e,t){return p.call(this,e),this.messageType="MSG_INIT_BASE_DEP",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="MSG_INIT_BASE_DEP",_.prototype.msg_type=35,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little"),_.prototype.fieldSpec=[];var S=function(e,t){return p.call(this,e),this.messageType="MSG_THREAD_STATE",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_THREAD_STATE",S.prototype.msg_type=23,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").string("name",{length:20}).uint16("cpu").uint32("stack_free"),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["name","string",20]),S.prototype.fieldSpec.push(["cpu","writeUInt16LE",2]),S.prototype.fieldSpec.push(["stack_free","writeUInt32LE",4]);var g=function(e,t){return p.call(this,e),this.messageType="UARTChannel",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(p.prototype)).messageType="UARTChannel",g.prototype.constructor=g,g.prototype.parser=(new 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o).endianess("little").int32("avg").int32("pmin").int32("pmax").int32("current"),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["avg","writeInt32LE",4]),w.prototype.fieldSpec.push(["pmin","writeInt32LE",4]),w.prototype.fieldSpec.push(["pmax","writeInt32LE",4]),w.prototype.fieldSpec.push(["current","writeInt32LE",4]);var E=function(e,t){return p.call(this,e),this.messageType="Latency",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="Latency",E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").int32("avg").int32("lmin").int32("lmax").int32("current"),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["avg","writeInt32LE",4]),E.prototype.fieldSpec.push(["lmin","writeInt32LE",4]),E.prototype.fieldSpec.push(["lmax","writeInt32LE",4]),E.prototype.fieldSpec.push(["current","writeInt32LE",4]);var m=function(e,t){return p.call(this,e),this.messageType="MSG_UART_STATE",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_UART_STATE",m.prototype.msg_type=29,m.prototype.constructor=m,m.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}).nest("obs_period",{type:w.prototype.parser}),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["uart_a",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["uart_b",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["uart_ftdi",g.prototype.fieldSpec]),m.prototype.fieldSpec.push(["latency",E.prototype.fieldSpec]),m.prototype.fieldSpec.push(["obs_period",w.prototype.fieldSpec]);var b=function(e,t){return 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 o).endianess("little").uint32("num_hyps"),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["num_hyps","writeUInt32LE",4]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE",L.prototype.msg_type=43,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:i.prototype.parser}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["mask","writeUInt8",1]),L.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]);var T=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE_DEP",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE_DEP",T.prototype.msg_type=27,T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:s.prototype.parser}),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["mask","writeUInt8",1]),T.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]);var I=function(e,t){return p.call(this,e),this.messageType="MSG_DEVICE_MONITOR",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_DEVICE_MONITOR",I.prototype.msg_type=181,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").int16("dev_vin").int16("cpu_vint").int16("cpu_vaux").int16("cpu_temperature").int16("fe_temperature"),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["dev_vin","writeInt16LE",2]),I.prototype.fieldSpec.push(["cpu_vint","writeInt16LE",2]),I.prototype.fieldSpec.push(["cpu_vaux","writeInt16LE",2]),I.prototype.fieldSpec.push(["cpu_temperature","writeInt16LE",2]),I.prototype.fieldSpec.push(["fe_temperature","writeInt16LE",2]);var M=function(e,t){return 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 1},16]),A.prototype.fieldSpec.push(["ipv6_mask_size","writeUInt8",1]),A.prototype.fieldSpec.push(["rx_bytes","writeUInt32LE",4]),A.prototype.fieldSpec.push(["tx_bytes","writeUInt32LE",4]),A.prototype.fieldSpec.push(["interface_name","string",16]),A.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var G=function(e,t){return p.call(this,e),this.messageType="NetworkUsage",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(p.prototype)).messageType="NetworkUsage",G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").uint64("duration").uint64("total_bytes").uint32("rx_bytes").uint32("tx_bytes").string("interface_name",{length:16}),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["duration","writeUInt64LE",8]),G.prototype.fieldSpec.push(["total_bytes","writeUInt64LE",8]),G.prototype.fieldSpec.push(["rx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["tx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["interface_name","string",16]);var R=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_BANDWIDTH_USAGE",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_BANDWIDTH_USAGE",R.prototype.msg_type=189,R.prototype.constructor=R,R.prototype.parser=(new o).endianess("little").array("interfaces",{type:G.prototype.parser,readUntil:"eof"}),R.prototype.fieldSpec=[],R.prototype.fieldSpec.push(["interfaces","array",G.prototype.fieldSpec,function(){return this.fields.array.length},null]);var 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 o).endianess("little").uint16("channel_tag").nest("t",{type:a.prototype.parser}).floatle("freq_ref").floatle("freq_step").floatle("amplitude_ref").floatle("amplitude_unit").array("amplitude_value",{type:"uint8",readUntil:"eof"}),C.prototype.fieldSpec=[],C.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),C.prototype.fieldSpec.push(["t",a.prototype.fieldSpec]),C.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),C.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),C.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),C.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),C.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var j=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN",this.fields=t||this.parser.parse(e.payload),this};(j.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN",j.prototype.msg_type=81,j.prototype.constructor=j,j.prototype.parser=(new 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 p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=(r(0).GnssSignalDep,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_SBAS_RAW",this.fields=t||this.parser.parse(e.payload),this});(s.prototype=Object.create(p.prototype)).messageType="MSG_SBAS_RAW",s.prototype.msg_type=30583,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint32("tow").uint8("message_type").array("data",{length:27,type:"uint8"}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),s.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),s.prototype.fieldSpec.push(["message_type","writeUInt8",1]),s.prototype.fieldSpec.push(["data","array","writeUInt8",function(){return 1},27]),e.exports={30583:s,MsgSbasRaw:s}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return 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g=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};(g.prototype=Object.create(p.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",g.prototype.msg_type=1500,g.prototype.constructor=g,g.prototype.parser=(new 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w=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_CODE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(p.prototype)).messageType="MSG_SSR_CODE_BIASES",w.prototype.msg_type=1505,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").array("biases",{type:a.prototype.parser,readUntil:"eof"}),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["time",s.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(["biases","array",a.prototype.fieldSpec,function(){return this.fields.array.length},null]);var E=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_PHASE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(p.prototype)).messageType="MSG_SSR_PHASE_BIASES",E.prototype.msg_type=1510,E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").nest("time",{type:s.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:l.prototype.parser,readUntil:"eof"}),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["time",s.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(["dispersive_bias","writeUInt8",1]),E.prototype.fieldSpec.push(["mw_consistency","writeUInt8",1]),E.prototype.fieldSpec.push(["yaw","writeUInt16LE",2]),E.prototype.fieldSpec.push(["yaw_rate","writeInt8",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_STEC_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION",m.prototype.msg_type=1515,m.prototype.constructor=m,m.prototype.parser=(new o).endianess("little").nest("header",{type:c.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["header",c.prototype.fieldSpec]),m.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var b=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION",b.prototype.msg_type=1520,b.prototype.constructor=b,b.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).nest("element",{type:d.prototype.parser}),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),b.prototype.fieldSpec.push(["element",d.prototype.fieldSpec]);var v=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRID_DEFINITION",v.prototype.msg_type=1525,v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").nest("header",{type:_.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["header",_.prototype.fieldSpec]),v.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]),e.exports={CodeBiasesContent:a,PhaseBiasesContent:l,STECHeader:c,GriddedCorrectionHeader:u,STECSatElement:y,TroposphericDelayCorrection:h,STECResidual:f,GridElement:d,GridDefinitionHeader:_,1501:S,MsgSsrOrbitClock:S,1500:g,MsgSsrOrbitClockDepA:g,1505:w,MsgSsrCodeBiases:w,1510:E,MsgSsrPhaseBiases:E,1515:m,MsgSsrStecCorrection:m,1520:b,MsgSsrGriddedCorrection:b,1525:v,MsgSsrGridDefinition:v}},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 p.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",this.fields=t||this.parser.parse(e.payload),this});(c.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",c.prototype.msg_type=33,c.prototype.constructor=c,c.prototype.parser=(new 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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/navigation.js b/javascript/sbp/navigation.js index b741dca998..5ceb4d89cb 100644 --- a/javascript/sbp/navigation.js +++ b/javascript/sbp/navigation.js @@ -1265,6 +1265,53 @@ MsgBaselineHeadingDepA.prototype.fieldSpec.push(['heading', 'writeUInt32LE', 4]) MsgBaselineHeadingDepA.prototype.fieldSpec.push(['n_sats', 'writeUInt8', 1]); MsgBaselineHeadingDepA.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); +/** + * SBP class for message MSG_PROTECTION_LEVEL (0x0216). + * + * This message reports the local vertical and horizontal protection levels + * associated with a given LLH position solution. The full GPS time is given by the + * preceding MSG_GPS_TIME with the matching time-of-week (tow). + * + * Fields in the SBP payload (`sbp.payload`): + * @field tow number (unsigned 32-bit int, 4 bytes) GPS Time of Week + * @field vpl number (unsigned 16-bit int, 2 bytes) Vertical protection level + * @field hpl number (unsigned 16-bit int, 2 bytes) Horizontal protection level + * @field lat number (float, 8 bytes) Latitude + * @field lon number (float, 8 bytes) Longitude + * @field height number (float, 8 bytes) Height + * @field flags number (unsigned 8-bit int, 1 byte) Status flags + * + * @param sbp An SBP object with a payload to be decoded. + */ +var MsgProtectionLevel = function (sbp, fields) { + SBP.call(this, sbp); + this.messageType = "MSG_PROTECTION_LEVEL"; + this.fields = (fields || this.parser.parse(sbp.payload)); + + return this; +}; +MsgProtectionLevel.prototype = Object.create(SBP.prototype); +MsgProtectionLevel.prototype.messageType = "MSG_PROTECTION_LEVEL"; +MsgProtectionLevel.prototype.msg_type = 0x0216; +MsgProtectionLevel.prototype.constructor = MsgProtectionLevel; +MsgProtectionLevel.prototype.parser = new Parser() + .endianess('little') + .uint32('tow') + .uint16('vpl') + .uint16('hpl') + .doublele('lat') + .doublele('lon') + .doublele('height') + .uint8('flags'); +MsgProtectionLevel.prototype.fieldSpec = []; +MsgProtectionLevel.prototype.fieldSpec.push(['tow', 'writeUInt32LE', 4]); +MsgProtectionLevel.prototype.fieldSpec.push(['vpl', 'writeUInt16LE', 2]); +MsgProtectionLevel.prototype.fieldSpec.push(['hpl', 'writeUInt16LE', 2]); +MsgProtectionLevel.prototype.fieldSpec.push(['lat', 'writeDoubleLE', 8]); +MsgProtectionLevel.prototype.fieldSpec.push(['lon', 'writeDoubleLE', 8]); +MsgProtectionLevel.prototype.fieldSpec.push(['height', 'writeDoubleLE', 8]); +MsgProtectionLevel.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); + module.exports = { 0x0102: MsgGpsTime, MsgGpsTime: MsgGpsTime, @@ -1314,4 +1361,6 @@ module.exports = { MsgVelNedDepA: MsgVelNedDepA, 0x0207: MsgBaselineHeadingDepA, MsgBaselineHeadingDepA: MsgBaselineHeadingDepA, + 0x0216: MsgProtectionLevel, + MsgProtectionLevel: MsgProtectionLevel, } \ No newline at end of file diff --git a/proto/navigation.proto b/proto/navigation.proto index 5b806ce6d4..0c3288d7da 100644 --- a/proto/navigation.proto +++ b/proto/navigation.proto @@ -341,4 +341,20 @@ message MsgVelBody { message MsgAgeCorrections { uint32 tow = 1; uint32 age = 2; +} + +/** Computed Position and Protection Level + * + * This message reports the local vertical and horizontal protection levels + * associated with a given LLH position solution. The full GPS time is given + * by the preceding MSG_GPS_TIME with the matching time-of-week (tow). + */ +message MsgProtectionLevel { + uint32 tow = 1; + uint32 vpl = 2; + uint32 hpl = 3; + double lat = 4; + double lon = 5; + double height = 6; + uint32 flags = 7; } \ No newline at end of file diff --git a/python/sbp/jit/navigation.py b/python/sbp/jit/navigation.py index f5c3d870cd..030d28cc25 100644 --- a/python/sbp/jit/navigation.py +++ b/python/sbp/jit/navigation.py @@ -1999,6 +1999,80 @@ def _payload_size(self): ret += 1 return ret +SBP_MSG_PROTECTION_LEVEL = 0x0216 +class MsgProtectionLevel(SBP): + """SBP class for message MSG_PROTECTION_LEVEL (0x0216). + + You can have MSG_PROTECTION_LEVEL inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + This message reports the local vertical and horizontal protection levels +associated with a given LLH position solution. The full GPS time is given +by the preceding MSG_GPS_TIME with the matching time-of-week (tow). + + + """ + __slots__ = ['tow', + 'vpl', + 'hpl', + 'lat', + 'lon', + 'height', + 'flags', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__tow, offset, length) = get_u32(buf, offset, length) + ret['tow'] = __tow + (__vpl, offset, length) = get_u16(buf, offset, length) + ret['vpl'] = __vpl + (__hpl, offset, length) = get_u16(buf, offset, length) + ret['hpl'] = __hpl + (__lat, offset, length) = get_f64(buf, offset, length) + ret['lat'] = __lat + (__lon, offset, length) = get_f64(buf, offset, length) + ret['lon'] = __lon + (__height, offset, length) = get_f64(buf, offset, length) + ret['height'] = __height + (__flags, offset, length) = get_u8(buf, offset, length) + ret['flags'] = __flags + 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.tow = res['tow'] + self.vpl = res['vpl'] + self.hpl = res['hpl'] + self.lat = res['lat'] + self.lon = res['lon'] + self.height = res['height'] + self.flags = res['flags'] + return res, off, length + + @classmethod + def _payload_size(self): + ret = 0 + # tow: u32 + ret += 4 + # vpl: u16 + ret += 2 + # hpl: u16 + ret += 2 + # lat: double + ret += 8 + # lon: double + ret += 8 + # height: double + ret += 8 + # flags: u8 + ret += 1 + return ret + msg_classes = { 0x0102: MsgGPSTime, @@ -2025,4 +2099,5 @@ def _payload_size(self): 0x0204: MsgVelECEFDepA, 0x0205: MsgVelNEDDepA, 0x0207: MsgBaselineHeadingDepA, + 0x0216: MsgProtectionLevel, } \ No newline at end of file diff --git a/python/sbp/navigation.py b/python/sbp/navigation.py index 32267a92b0..d21247908e 100755 --- a/python/sbp/navigation.py +++ b/python/sbp/navigation.py @@ -3155,6 +3155,128 @@ def to_json_dict(self): d.update(j) return d +SBP_MSG_PROTECTION_LEVEL = 0x0216 +class MsgProtectionLevel(SBP): + """SBP class for message MSG_PROTECTION_LEVEL (0x0216). + + You can have MSG_PROTECTION_LEVEL inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + This message reports the local vertical and horizontal protection levels +associated with a given LLH position solution. The full GPS time is given +by the preceding MSG_GPS_TIME with the matching time-of-week (tow). + + + Parameters + ---------- + sbp : SBP + SBP parent object to inherit from. + tow : int + GPS Time of Week + vpl : int + Vertical protection level + hpl : int + Horizontal protection level + lat : double + Latitude + lon : double + Longitude + height : double + Height + flags : int + Status flags + sender : int + Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). + + """ + _parser = construct.Struct( + 'tow' / construct.Int32ul, + 'vpl' / construct.Int16ul, + 'hpl' / construct.Int16ul, + 'lat' / construct.Float64l, + 'lon' / construct.Float64l, + 'height' / construct.Float64l, + 'flags' / construct.Int8ul,) + __slots__ = [ + 'tow', + 'vpl', + 'hpl', + 'lat', + 'lon', + 'height', + 'flags', + ] + + def __init__(self, sbp=None, **kwargs): + if sbp: + super( MsgProtectionLevel, + self).__init__(sbp.msg_type, sbp.sender, sbp.length, + sbp.payload, sbp.crc) + self.from_binary(sbp.payload) + else: + super( MsgProtectionLevel, self).__init__() + self.msg_type = SBP_MSG_PROTECTION_LEVEL + self.sender = kwargs.pop('sender', SENDER_ID) + self.tow = kwargs.pop('tow') + self.vpl = kwargs.pop('vpl') + self.hpl = kwargs.pop('hpl') + self.lat = kwargs.pop('lat') + self.lon = kwargs.pop('lon') + self.height = kwargs.pop('height') + self.flags = kwargs.pop('flags') + + def __repr__(self): + return fmt_repr(self) + + @staticmethod + def from_json(s): + """Given a JSON-encoded string s, build a message object. + + """ + d = json.loads(s) + return MsgProtectionLevel.from_json_dict(d) + + @staticmethod + def from_json_dict(d): + sbp = SBP.from_json_dict(d) + return MsgProtectionLevel(sbp, **d) + + + def from_binary(self, d): + """Given a binary payload d, update the appropriate payload fields of + the message. + + """ + p = MsgProtectionLevel._parser.parse(d) + for n in self.__class__.__slots__: + setattr(self, n, getattr(p, n)) + + def to_binary(self): + """Produce a framed/packed SBP message. + + """ + c = containerize(exclude_fields(self)) + self.payload = MsgProtectionLevel._parser.build(c) + return self.pack() + + def into_buffer(self, buf, offset): + """Produce a framed/packed SBP message into the provided buffer and offset. + + """ + self.payload = containerize(exclude_fields(self)) + self.parser = MsgProtectionLevel._parser + self.stream_payload.reset(buf, offset) + return self.pack_into(buf, offset, self._build_payload) + + def to_json_dict(self): + self.to_binary() + d = super( MsgProtectionLevel, self).to_json_dict() + j = walk_json_dict(exclude_fields(self)) + d.update(j) + return d + msg_classes = { 0x0102: MsgGPSTime, @@ -3181,4 +3303,5 @@ def to_json_dict(self): 0x0204: MsgVelECEFDepA, 0x0205: MsgVelNEDDepA, 0x0207: MsgBaselineHeadingDepA, + 0x0216: MsgProtectionLevel, } \ No newline at end of file diff --git a/python/tests/sbp/test_table.py b/python/tests/sbp/test_table.py index f2ec92e7e2..900b20faf6 100644 --- a/python/tests/sbp/test_table.py +++ b/python/tests/sbp/test_table.py @@ -44,7 +44,7 @@ def test_table_count(): Test number of available messages to deserialize. """ - number_of_messages = 173 + number_of_messages = 174 assert len(_SBP_TABLE) == number_of_messages def test_table_unqiue_count(): diff --git a/rust/sbp/src/messages/mod.rs b/rust/sbp/src/messages/mod.rs index c89389235a..666eafe0d7 100644 --- a/rust/sbp/src/messages/mod.rs +++ b/rust/sbp/src/messages/mod.rs @@ -91,6 +91,7 @@ use self::navigation::MsgPosECEFDepA; use self::navigation::MsgPosLLH; use self::navigation::MsgPosLLHCov; use self::navigation::MsgPosLLHDepA; +use self::navigation::MsgProtectionLevel; use self::navigation::MsgUtcTime; use self::navigation::MsgVelBody; use self::navigation::MsgVelECEF; @@ -354,6 +355,7 @@ pub enum SBP { MsgVelBody(MsgVelBody), MsgPosECEFCov(MsgPosECEFCov), MsgVelECEFCov(MsgVelECEFCov), + MsgProtectionLevel(MsgProtectionLevel), MsgOrientQuat(MsgOrientQuat), MsgOrientEuler(MsgOrientEuler), MsgAngularRate(MsgAngularRate), @@ -1080,6 +1082,11 @@ impl SBP { msg.set_sender_id(sender_id); Ok(SBP::MsgVelECEFCov(msg)) } + 534 => { + let mut msg = MsgProtectionLevel::parse(payload)?; + msg.set_sender_id(sender_id); + Ok(SBP::MsgProtectionLevel(msg)) + } 544 => { let mut msg = MsgOrientQuat::parse(payload)?; msg.set_sender_id(sender_id); diff --git a/rust/sbp/src/messages/navigation.rs b/rust/sbp/src/messages/navigation.rs index 289c4925da..0c8d078175 100644 --- a/rust/sbp/src/messages/navigation.rs +++ b/rust/sbp/src/messages/navigation.rs @@ -1409,3 +1409,55 @@ impl super::SBPMessage for MsgVelECEFCov { self.sender_id = Some(new_id); } } + +/// Computed Position and Protection Level +/// +/// This message reports the local vertical and horizontal protection levels +/// associated with a given LLH position solution. The full GPS time is given +/// by the preceding MSG_GPS_TIME with the matching time-of-week (tow). +/// +#[derive(Debug)] +#[allow(non_snake_case)] +pub struct MsgProtectionLevel { + pub sender_id: Option, + /// GPS Time of Week + pub tow: u32, + /// Vertical protection level + pub vpl: u16, + /// Horizontal protection level + pub hpl: u16, + /// Latitude + pub lat: f64, + /// Longitude + pub lon: f64, + /// Height + pub height: f64, + /// Status flags + pub flags: u8, +} + +impl MsgProtectionLevel { + pub fn parse(_buf: &mut &[u8]) -> Result { + Ok(MsgProtectionLevel { + sender_id: None, + tow: _buf.read_u32::()?, + vpl: _buf.read_u16::()?, + hpl: _buf.read_u16::()?, + lat: _buf.read_f64::()?, + lon: _buf.read_f64::()?, + height: _buf.read_f64::()?, + flags: _buf.read_u8()?, + }) + } +} +impl super::SBPMessage for MsgProtectionLevel { + const MSG_ID: u16 = 534; + + fn get_sender_id(&self) -> Option { + self.sender_id + } + + fn set_sender_id(&mut self, new_id: u16) { + self.sender_id = Some(new_id); + } +}