[STAR-789] Add proposed Protection Level message

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

c/include/libsbp/sbp_handler.hpp

@@ -0,0 +1,6 @@
+#ifndef LIBSBP_SBP_HANDLER_HPP_
+#define LIBSBP_SBP_HANDLER_HPP_
+
+#include <libsbp/sbp.h>
+
+#endif /* LIBSBP_SBP_HANDLER_HPP_ */

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

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)

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:

java/src/com/swiftnav/sbp/navigation/MsgProtectionLevel.java

@@ -0,0 +1,103 @@
+/*
+ * Copyright (C) 2015-2018 Swift Navigation Inc.
+ * Contact: Swift Navigation <dev@swiftnav.com>
+ *
+ * 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;
+    }
+}

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,
 }

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;
 }