[SO-17] Guillaume/so 7/add leader group message

c/include/libsbp/cpp/message_traits.h

@@ -1097,6 +1097,12 @@ struct MessageTraits<msg_gnss_time_offset_t> {
 };
 
 
+template<>
+struct MessageTraits<msg_group_meta_t> {
+  static constexpr u16 id = 65290;
+};
+
+
 template<>
 struct MessageTraits<msg_heartbeat_t> {
   static constexpr u16 id = 65535;

c/include/libsbp/system.h

@@ -146,6 +146,23 @@ typedef struct SBP_ATTR_PACKED {
 } msg_gnss_time_offset_t;
 
 
+/** Solution Group Metadata
+ *
+ * This leading message lists the time metadata of the Solution Group.
+ * It also lists the atomic contents (i.e. types of messages included) of the Solution Group.
+ */
+#define SBP_MSG_GROUP_META            0xFF0A
+typedef struct SBP_ATTR_PACKED {
+  u16 wn;             /**< GPS Week Number or zero if Reference epoch is not GPS [weeks] */
+  u32 tom;            /**< Time of Measurement in Milliseconds since reference epoch [ms] */
+  s32 ns_residual;    /**< Nanosecond residual of millisecond-rounded TOM (ranges
+from -500000 to 500000)
+ [ns] */
+  u8 flags;          /**< Status flags (reserved) */
+  u16 group_msgs[0];  /**< An inorder list of message types included in the Solution Group */
+} msg_group_meta_t;
+
+
 /** \} */
 
 SBP_PACK_END

c/test/auto_check_sbp_acquisition_39.c

@@ -1,6 +1,6 @@
 /*
- * Copyright (C) 2015 Swift Navigation Inc.
- * Contact: Joshua Gross <josh@swiftnav.com>
+ * 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.

c/test/auto_check_sbp_bootload_40.c

@@ -1,6 +1,6 @@
 /*
- * Copyright (C) 2015 Swift Navigation Inc.
- * Contact: Joshua Gross <josh@swiftnav.com>
+ * 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.

c/test/auto_check_sbp_ext_events_41.c

@@ -1,6 +1,6 @@
 /*
- * Copyright (C) 2015 Swift Navigation Inc.
- * Contact: Joshua Gross <josh@swiftnav.com>
+ * 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.

c/test/auto_check_sbp_logging_43.c

@@ -1,6 +1,6 @@
 /*
- * Copyright (C) 2015 Swift Navigation Inc.
- * Contact: Joshua Gross <josh@swiftnav.com>
+ * 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.

c/test/auto_check_sbp_navigation_44.c

@@ -1,6 +1,6 @@
 /*
- * Copyright (C) 2015 Swift Navigation Inc.
- * Contact: Joshua Gross <josh@swiftnav.com>
+ * 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.

c/test/auto_check_sbp_observation_45.c

@@ -1,6 +1,6 @@
 /*
- * Copyright (C) 2015 Swift Navigation Inc.
- * Contact: Joshua Gross <josh@swiftnav.com>
+ * 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.

c/test/auto_check_sbp_piksi_46.c

@@ -1,6 +1,6 @@
 /*
- * Copyright (C) 2015 Swift Navigation Inc.
- * Contact: Joshua Gross <josh@swiftnav.com>
+ * 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.

c/test/auto_check_sbp_system_36.c

@@ -10,7 +10,7 @@
  * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
  */
 
-// This file was auto-generated from spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml by generate.py. Do not modify by hand!
+// This file was auto-generated from spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml by generate.py. Do not modify by hand!
 
 #include <check.h>
 #include <stdio.h> // for debugging
@@ -97,12 +97,12 @@ START_TEST( test_auto_check_sbp_system_36 )
 
     logging_reset();
 
-    sbp_register_callback(&sbp_state, 0xffff, &logging_callback, &DUMMY_MEMORY_FOR_CALLBACKS, &n);
+    sbp_register_callback(&sbp_state, 0xFF0A, &logging_callback, &DUMMY_MEMORY_FOR_CALLBACKS, &n);
 
-    u8 test_data[] = {85,255,255,246,215,4,0,50,0,0,249,216, };
+    u8 test_data[] = {85,10,255,238,238,15,192,7,64,226,1,0,0,0,0,0,3,10,2,2,255,156,76, };
 
     dummy_reset();
-    sbp_send_message(&sbp_state, 0xffff, 55286, sizeof(test_data), test_data, &dummy_write);
+    sbp_send_message(&sbp_state, 0xFF0A, 61166, sizeof(test_data), test_data, &dummy_write);
 
     while (dummy_rd < dummy_wr) {
       fail_unless(sbp_process(&sbp_state, &dummy_read) >= SBP_OK,
@@ -111,7 +111,7 @@ START_TEST( test_auto_check_sbp_system_36 )
 
     fail_unless(n_callbacks_logged == 1,
         "one callback should have been logged");
-    fail_unless(last_sender_id == 55286,
+    fail_unless(last_sender_id == 61166,
         "sender_id decoded incorrectly");
     fail_unless(last_len == sizeof(test_data),
         "len decoded incorrectly");
@@ -122,10 +122,15 @@ START_TEST( test_auto_check_sbp_system_36 )
         "context pointer incorrectly passed");
 
     // Cast to expected message type - the +6 byte offset is where the payload starts
-    msg_heartbeat_t* msg = ( msg_heartbeat_t *)((void *)last_msg + 6);
+    msg_group_meta_t* msg = ( msg_group_meta_t *)((void *)last_msg + 6);
     // Run tests against fields
     fail_unless(msg != 0, "stub to prevent warnings if msg isn't used");
-    fail_unless(msg->flags == 12800, "incorrect value for flags, expected 12800, is %d", msg->flags);
+    fail_unless(msg->flags == 3, "incorrect value for flags, expected 3, is %d", msg->flags);
+    fail_unless(msg->group_msgs[0] == 522, "incorrect value for group_msgs[0], expected 522, is %d", msg->group_msgs[0]);
+    fail_unless(msg->group_msgs[1] == 65282, "incorrect value for group_msgs[1], expected 65282, is %d", msg->group_msgs[1]);
+    fail_unless(msg->ns_residual == 0, "incorrect value for ns_residual, expected 0, is %d", msg->ns_residual);
+    fail_unless(msg->tom == 123456, "incorrect value for tom, expected 123456, is %d", msg->tom);
+    fail_unless(msg->wn == 1984, "incorrect value for wn, expected 1984, is %d", msg->wn);
   }
 }
 END_TEST

c/test/auto_check_sbp_system_37.c

@@ -10,7 +10,7 @@
  * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
  */
 
-// This file was auto-generated from spec/tests/yaml/swiftnav/sbp/system/test_MsgStartup.yaml by generate.py. Do not modify by hand!
+// This file was auto-generated from spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml by generate.py. Do not modify by hand!
 
 #include <check.h>
 #include <stdio.h> // for debugging
@@ -97,12 +97,12 @@ START_TEST( test_auto_check_sbp_system_37 )
 
     logging_reset();
 
-    sbp_register_callback(&sbp_state, 0xff00, &logging_callback, &DUMMY_MEMORY_FOR_CALLBACKS, &n);
+    sbp_register_callback(&sbp_state, 0xffff, &logging_callback, &DUMMY_MEMORY_FOR_CALLBACKS, &n);
 
-    u8 test_data[] = {85,0,255,66,0,4,0,0,0,0,70,160, };
+    u8 test_data[] = {85,255,255,246,215,4,0,50,0,0,249,216, };
 
     dummy_reset();
-    sbp_send_message(&sbp_state, 0xff00, 66, sizeof(test_data), test_data, &dummy_write);
+    sbp_send_message(&sbp_state, 0xffff, 55286, sizeof(test_data), test_data, &dummy_write);
 
     while (dummy_rd < dummy_wr) {
       fail_unless(sbp_process(&sbp_state, &dummy_read) >= SBP_OK,
@@ -111,7 +111,7 @@ START_TEST( test_auto_check_sbp_system_37 )
 
     fail_unless(n_callbacks_logged == 1,
         "one callback should have been logged");
-    fail_unless(last_sender_id == 66,
+    fail_unless(last_sender_id == 55286,
         "sender_id decoded incorrectly");
     fail_unless(last_len == sizeof(test_data),
         "len decoded incorrectly");
@@ -122,12 +122,10 @@ START_TEST( test_auto_check_sbp_system_37 )
         "context pointer incorrectly passed");
 
     // Cast to expected message type - the +6 byte offset is where the payload starts
-    msg_startup_t* msg = ( msg_startup_t *)((void *)last_msg + 6);
+    msg_heartbeat_t* msg = ( msg_heartbeat_t *)((void *)last_msg + 6);
     // Run tests against fields
     fail_unless(msg != 0, "stub to prevent warnings if msg isn't used");
-    fail_unless(msg->cause == 0, "incorrect value for cause, expected 0, is %d", msg->cause);
-    fail_unless(msg->reserved == 0, "incorrect value for reserved, expected 0, is %d", msg->reserved);
-    fail_unless(msg->startup_type == 0, "incorrect value for startup_type, expected 0, is %d", msg->startup_type);
+    fail_unless(msg->flags == 12800, "incorrect value for flags, expected 12800, is %d", msg->flags);
   }
 }
 END_TEST

c/test/auto_check_sbp_system_38.c

@@ -1,6 +1,6 @@
 /*
- * Copyright (C) 2015 Swift Navigation Inc.
- * Contact: Joshua Gross <josh@swiftnav.com>
+ * 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.

c/test/auto_check_sbp_system_47.c

@@ -1,6 +1,6 @@
 /*
- * Copyright (C) 2015 Swift Navigation Inc.
- * Contact: Joshua Gross <josh@swiftnav.com>
+ * 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.