diff --git a/c/include/libsbp/cpp/message_traits.h b/c/include/libsbp/cpp/message_traits.h index a7f73d133b..2d7bb0adea 100644 --- a/c/include/libsbp/cpp/message_traits.h +++ b/c/include/libsbp/cpp/message_traits.h @@ -1091,6 +1091,12 @@ struct MessageTraits { }; +template<> +struct MessageTraits { + static constexpr u16 id = 65287; +}; + + template<> struct MessageTraits { static constexpr u16 id = 65535; diff --git a/c/include/libsbp/imu.h b/c/include/libsbp/imu.h index 86e828f72c..f9c8c6abee 100644 --- a/c/include/libsbp/imu.h +++ b/c/include/libsbp/imu.h @@ -34,6 +34,11 @@ SBP_PACK_START * gyroscope readings. The sense of the measurements are to be aligned with * the indications on the device itself. Measurement units, which are specific to the * device hardware and settings, are communicated via the MSG_IMU_AUX message. + * If using "time since startup" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements + * with GNSS. + * + * The time-tagging mode should not change throughout a run. */ #define SBP_MSG_IMU_RAW 0x0900 typedef struct SBP_ATTR_PACKED { diff --git a/c/include/libsbp/system.h b/c/include/libsbp/system.h index a3a823a3f8..7bd77b66f2 100644 --- a/c/include/libsbp/system.h +++ b/c/include/libsbp/system.h @@ -131,6 +131,21 @@ typedef struct SBP_ATTR_PACKED { } msg_ins_updates_t; +/** Offset of the local time with respect to GNSS time + * + * The GNSS time offset message contains the information that is needed to translate messages + * tagged with a local timestamp (e.g. IMU or wheeltick messages) to GNSS time for the sender + * producing this message. + */ +#define SBP_MSG_GNSS_TIME_OFFSET 0xFF07 +typedef struct SBP_ATTR_PACKED { + s16 weeks; /**< Weeks portion of the time offset [weeks] */ + s32 milliseconds; /**< Milliseconds portion of the time offset [ms] */ + s16 microseconds; /**< Microseconds portion of the time offset [microseconds] */ + u8 flags; /**< Status flags (reserved) */ +} msg_gnss_time_offset_t; + + /** \} */ SBP_PACK_END diff --git a/c/include/libsbp/vehicle.h b/c/include/libsbp/vehicle.h index b21b0cbc01..d653fd6c3a 100644 --- a/c/include/libsbp/vehicle.h +++ b/c/include/libsbp/vehicle.h @@ -35,6 +35,9 @@ SBP_PACK_START * the definition and origin of the user frame are defined through the device settings interface. * There are 4 possible user-defined sources of this message which are labeled arbitrarily * source 0 through 3. + * If using "processor time" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise odometry measurements + * with GNSS. */ #define SBP_MSG_ODOMETRY 0x0903 typedef struct SBP_ATTR_PACKED { @@ -57,6 +60,9 @@ for the exact source of this timestamp. * from 0 to 255. * The timestamp associated with this message should represent the time when the accumulated * tick count reached the value given by the contents of this message as accurately as possible. + * If using "local CPU time" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise wheeltick measurements + * with GNSS. */ #define SBP_MSG_WHEELTICK 0x0904 typedef struct SBP_ATTR_PACKED { diff --git a/docs/sbp.pdf b/docs/sbp.pdf index f3931442d0..d23fe36487 100644 Binary files a/docs/sbp.pdf and b/docs/sbp.pdf differ diff --git a/haskell/src/SwiftNav/SBP/Imu.hs b/haskell/src/SwiftNav/SBP/Imu.hs index a6f400daea..4ad77f8cdb 100644 --- a/haskell/src/SwiftNav/SBP/Imu.hs +++ b/haskell/src/SwiftNav/SBP/Imu.hs @@ -44,7 +44,10 @@ msgImuRaw = 0x0900 -- gyroscope readings. The sense of the measurements are to be aligned with -- the indications on the device itself. Measurement units, which are specific -- to the device hardware and settings, are communicated via the MSG_IMU_AUX --- message. +-- message. If using "time since startup" time tags, the receiving end will +-- expect a `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to +-- synchronise IMU measurements with GNSS. The time-tagging mode should not +-- change throughout a run. data MsgImuRaw = MsgImuRaw { _msgImuRaw_tow :: !Word32 -- ^ Milliseconds since reference epoch and time status. diff --git a/haskell/src/SwiftNav/SBP/Msg.hs b/haskell/src/SwiftNav/SBP/Msg.hs index 29dd8e69d7..58b8b80bf0 100644 --- a/haskell/src/SwiftNav/SBP/Msg.hs +++ b/haskell/src/SwiftNav/SBP/Msg.hs @@ -129,6 +129,7 @@ data SBPMsg = | SBPMsgFwd MsgFwd Msg | SBPMsgGloBiases MsgGloBiases Msg | SBPMsgGnssCapb MsgGnssCapb Msg + | SBPMsgGnssTimeOffset MsgGnssTimeOffset Msg | SBPMsgGpsTime MsgGpsTime Msg | SBPMsgGpsTimeDepA MsgGpsTimeDepA Msg | SBPMsgGroupDelay MsgGroupDelay Msg @@ -327,6 +328,7 @@ instance Binary SBPMsg where | _msgSBPType == msgFwd = SBPMsgFwd (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGloBiases = SBPMsgGloBiases (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGnssCapb = SBPMsgGnssCapb (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgGnssTimeOffset = SBPMsgGnssTimeOffset (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGpsTimeDepA = SBPMsgGpsTimeDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -517,6 +519,7 @@ instance Binary SBPMsg where encoder (SBPMsgFwd _ m) = put m encoder (SBPMsgGloBiases _ m) = put m encoder (SBPMsgGnssCapb _ m) = put m + encoder (SBPMsgGnssTimeOffset _ m) = put m encoder (SBPMsgGpsTime _ m) = put m encoder (SBPMsgGpsTimeDepA _ m) = put m encoder (SBPMsgGroupDelay _ m) = put m @@ -711,6 +714,7 @@ instance FromJSON SBPMsg where | msgType == msgFwd = SBPMsgFwd <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGloBiases = SBPMsgGloBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGnssCapb = SBPMsgGnssCapb <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgGnssTimeOffset = SBPMsgGnssTimeOffset <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGpsTime = SBPMsgGpsTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGpsTimeDepA = SBPMsgGpsTimeDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelay = SBPMsgGroupDelay <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -906,6 +910,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgFwd n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGloBiases n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGnssCapb n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgGnssTimeOffset n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGpsTime n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGpsTimeDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelay n m) = toJSON n <<>> toJSON m @@ -1095,6 +1100,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgFwd n m) = SBPMsgFwd n <$> f m msg f (SBPMsgGloBiases n m) = SBPMsgGloBiases n <$> f m msg f (SBPMsgGnssCapb n m) = SBPMsgGnssCapb n <$> f m + msg f (SBPMsgGnssTimeOffset n m) = SBPMsgGnssTimeOffset n <$> f m msg f (SBPMsgGpsTime n m) = SBPMsgGpsTime n <$> f m msg f (SBPMsgGpsTimeDepA n m) = SBPMsgGpsTimeDepA n <$> f m msg f (SBPMsgGroupDelay n m) = SBPMsgGroupDelay n <$> f m diff --git a/haskell/src/SwiftNav/SBP/System.hs b/haskell/src/SwiftNav/SBP/System.hs index 377a06fde2..bfd1c52275 100644 --- a/haskell/src/SwiftNav/SBP/System.hs +++ b/haskell/src/SwiftNav/SBP/System.hs @@ -266,3 +266,40 @@ instance Binary MsgInsUpdates where $(makeSBP 'msgInsUpdates ''MsgInsUpdates) $(makeJSON "_msgInsUpdates_" ''MsgInsUpdates) $(makeLenses ''MsgInsUpdates) + +msgGnssTimeOffset :: Word16 +msgGnssTimeOffset = 0xFF07 + +-- | SBP class for message MSG_GNSS_TIME_OFFSET (0xFF07). +-- +-- The GNSS time offset message contains the information that is needed to +-- translate messages tagged with a local timestamp (e.g. IMU or wheeltick +-- messages) to GNSS time for the sender producing this message. +data MsgGnssTimeOffset = MsgGnssTimeOffset + { _msgGnssTimeOffset_weeks :: !Int16 + -- ^ Weeks portion of the time offset + , _msgGnssTimeOffset_milliseconds :: !Int32 + -- ^ Milliseconds portion of the time offset + , _msgGnssTimeOffset_microseconds :: !Int16 + -- ^ Microseconds portion of the time offset + , _msgGnssTimeOffset_flags :: !Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgGnssTimeOffset where + get = do + _msgGnssTimeOffset_weeks <- (fromIntegral <$> getWord16le) + _msgGnssTimeOffset_milliseconds <- (fromIntegral <$> getWord32le) + _msgGnssTimeOffset_microseconds <- (fromIntegral <$> getWord16le) + _msgGnssTimeOffset_flags <- getWord8 + pure MsgGnssTimeOffset {..} + + put MsgGnssTimeOffset {..} = do + (putWord16le . fromIntegral) _msgGnssTimeOffset_weeks + (putWord32le . fromIntegral) _msgGnssTimeOffset_milliseconds + (putWord16le . fromIntegral) _msgGnssTimeOffset_microseconds + putWord8 _msgGnssTimeOffset_flags + +$(makeSBP 'msgGnssTimeOffset ''MsgGnssTimeOffset) +$(makeJSON "_msgGnssTimeOffset_" ''MsgGnssTimeOffset) +$(makeLenses ''MsgGnssTimeOffset) diff --git a/haskell/src/SwiftNav/SBP/Vehicle.hs b/haskell/src/SwiftNav/SBP/Vehicle.hs index 6d2c3cd9d8..ddaad8d192 100644 --- a/haskell/src/SwiftNav/SBP/Vehicle.hs +++ b/haskell/src/SwiftNav/SBP/Vehicle.hs @@ -44,7 +44,9 @@ msgOdometry = 0x0903 -- odometry reference point and the definition and origin of the user frame -- are defined through the device settings interface. There are 4 possible -- user-defined sources of this message which are labeled arbitrarily source --- 0 through 3. +-- 0 through 3. If using "processor time" time tags, the receiving end will +-- expect a `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to +-- synchronise odometry measurements with GNSS. data MsgOdometry = MsgOdometry { _msgOdometry_tow :: !Word32 -- ^ Time field representing either milliseconds in the GPS Week or local CPU @@ -84,7 +86,9 @@ msgWheeltick = 0x0904 -- identified by the source field, which is an integer ranging from 0 to 255. -- The timestamp associated with this message should represent the time when -- the accumulated tick count reached the value given by the contents of this --- message as accurately as possible. +-- message as accurately as possible. If using "local CPU time" time tags, the +-- receiving end will expect a `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes +-- available to synchronise wheeltick measurements with GNSS. data MsgWheeltick = MsgWheeltick { _msgWheeltick_time :: !Word64 -- ^ Time field representing either microseconds since the last PPS, diff --git a/java/src/com/swiftnav/sbp/client/MessageTable.java b/java/src/com/swiftnav/sbp/client/MessageTable.java index 01c63abbeb..35612d6f7c 100644 --- a/java/src/com/swiftnav/sbp/client/MessageTable.java +++ b/java/src/com/swiftnav/sbp/client/MessageTable.java @@ -188,6 +188,7 @@ import com.swiftnav.sbp.system.MsgCsacTelemetry; import com.swiftnav.sbp.system.MsgCsacTelemetryLabels; import com.swiftnav.sbp.system.MsgInsUpdates; +import com.swiftnav.sbp.system.MsgGnssTimeOffset; import com.swiftnav.sbp.tracking.MsgTrackingStateDetailedDepA; import com.swiftnav.sbp.tracking.MsgTrackingStateDetailedDep; import com.swiftnav.sbp.tracking.MsgTrackingState; @@ -550,6 +551,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException { return new MsgCsacTelemetryLabels(msg); case MsgInsUpdates.TYPE: return new MsgInsUpdates(msg); + case MsgGnssTimeOffset.TYPE: + return new MsgGnssTimeOffset(msg); case MsgTrackingStateDetailedDepA.TYPE: return new MsgTrackingStateDetailedDepA(msg); case MsgTrackingStateDetailedDep.TYPE: diff --git a/java/src/com/swiftnav/sbp/imu/MsgImuRaw.java b/java/src/com/swiftnav/sbp/imu/MsgImuRaw.java index 6b9168ce6e..1299b245df 100644 --- a/java/src/com/swiftnav/sbp/imu/MsgImuRaw.java +++ b/java/src/com/swiftnav/sbp/imu/MsgImuRaw.java @@ -31,7 +31,12 @@ * Raw data from the Inertial Measurement Unit, containing accelerometer and * gyroscope readings. The sense of the measurements are to be aligned with * the indications on the device itself. Measurement units, which are specific to the - * device hardware and settings, are communicated via the MSG_IMU_AUX message. */ + * device hardware and settings, are communicated via the MSG_IMU_AUX message. + * If using "time since startup" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements + * with GNSS. + * + * The time-tagging mode should not change throughout a run. */ public class MsgImuRaw extends SBPMessage { public static final int TYPE = 0x0900; diff --git a/java/src/com/swiftnav/sbp/system/MsgGnssTimeOffset.java b/java/src/com/swiftnav/sbp/system/MsgGnssTimeOffset.java new file mode 100644 index 0000000000..de244400d0 --- /dev/null +++ b/java/src/com/swiftnav/sbp/system/MsgGnssTimeOffset.java @@ -0,0 +1,85 @@ +/* + * 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.system; + +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_GNSS_TIME_OFFSET (0xFF07). + * + * You can have MSG_GNSS_TIME_OFFSET inherent its fields directly from + * an inherited SBP object, or construct it inline using a dict of its + * fields. + * + * The GNSS time offset message contains the information that is needed to translate messages + * tagged with a local timestamp (e.g. IMU or wheeltick messages) to GNSS time for the sender + * producing this message. */ + +public class MsgGnssTimeOffset extends SBPMessage { + public static final int TYPE = 0xFF07; + + + /** Weeks portion of the time offset */ + public int weeks; + + /** Milliseconds portion of the time offset */ + public int milliseconds; + + /** Microseconds portion of the time offset */ + public int microseconds; + + /** Status flags (reserved) */ + public int flags; + + + public MsgGnssTimeOffset (int sender) { super(sender, TYPE); } + public MsgGnssTimeOffset () { super(TYPE); } + public MsgGnssTimeOffset (SBPMessage msg) throws SBPBinaryException { + super(msg); + assert msg.type != TYPE; + } + + @Override + protected void parse(Parser parser) throws SBPBinaryException { + /* Parse fields from binary */ + weeks = parser.getS16(); + milliseconds = parser.getS32(); + microseconds = parser.getS16(); + flags = parser.getU8(); + } + + @Override + protected void build(Builder builder) { + builder.putS16(weeks); + builder.putS32(milliseconds); + builder.putS16(microseconds); + builder.putU8(flags); + } + + @Override + public JSONObject toJSON() { + JSONObject obj = super.toJSON(); + obj.put("weeks", weeks); + obj.put("milliseconds", milliseconds); + obj.put("microseconds", microseconds); + obj.put("flags", flags); + return obj; + } +} \ No newline at end of file diff --git a/java/src/com/swiftnav/sbp/vehicle/MsgOdometry.java b/java/src/com/swiftnav/sbp/vehicle/MsgOdometry.java index 1042ed343b..262b4f57ac 100644 --- a/java/src/com/swiftnav/sbp/vehicle/MsgOdometry.java +++ b/java/src/com/swiftnav/sbp/vehicle/MsgOdometry.java @@ -32,7 +32,10 @@ * reference point(s) specified by the user. The offset for the odometry reference point and * the definition and origin of the user frame are defined through the device settings interface. * There are 4 possible user-defined sources of this message which are labeled arbitrarily - * source 0 through 3. */ + * source 0 through 3. + * If using "processor time" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise odometry measurements + * with GNSS. */ public class MsgOdometry extends SBPMessage { public static final int TYPE = 0x0903; diff --git a/java/src/com/swiftnav/sbp/vehicle/MsgWheeltick.java b/java/src/com/swiftnav/sbp/vehicle/MsgWheeltick.java index f389cc4d9a..6d4d96f373 100644 --- a/java/src/com/swiftnav/sbp/vehicle/MsgWheeltick.java +++ b/java/src/com/swiftnav/sbp/vehicle/MsgWheeltick.java @@ -34,7 +34,10 @@ * The source of this message is identified by the source field, which is an integer ranging * from 0 to 255. * The timestamp associated with this message should represent the time when the accumulated - * tick count reached the value given by the contents of this message as accurately as possible. */ + * tick count reached the value given by the contents of this message as accurately as possible. + * If using "local CPU time" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise wheeltick measurements + * with GNSS. */ public class MsgWheeltick extends SBPMessage { public static final int TYPE = 0x0904; 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t=this._a00;if(this._a00=this._a32,this._a32=t,t=this._a48,this._a48=this._a16,this._a16=t,32==e)return this;e-=32}var r=this._a48<<16|this._a32,p=this._a16<<16|this._a00,o=r<>>32-e,i=p<>>32-e;return this._a00=65535&i,this._a16=i>>>16,this._a32=65535&o,this._a48=o>>>16,this},s.prototype.rotateRight=s.prototype.rotr=function(e){if(0==(e%=64))return this;if(e>=32){var t=this._a00;if(this._a00=this._a32,this._a32=t,t=this._a48,this._a48=this._a16,this._a16=t,32==e)return this;e-=32}var r=this._a48<<16|this._a32,p=this._a16<<16|this._a00,o=r>>>e|p<<32-e,i=p>>>e|r<<32-e;return this._a00=65535&i,this._a16=i>>>16,this._a32=65535&o,this._a48=o>>>16,this},s.prototype.clone=function(){return new s(this._a00,this._a16,this._a32,this._a48)},void 0===(p=function(){return s}.apply(t,[]))||(e.exports=p)}()},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=r(0).GnssSignalDep,n=(r(0).GPSTime,r(0).CarrierPhase,r(0).GPSTime,r(0).GPSTimeSec,r(0).GPSTimeDep,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_RESULT",this.fields=t||this.parser.parse(e.payload),this});(n.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_RESULT",n.prototype.msg_type=47,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").floatle("cn0").floatle("cp").floatle("cf").nest("sid",{type:i.prototype.parser}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["cn0","writeFloatLE",4]),n.prototype.fieldSpec.push(["cp","writeFloatLE",4]),n.prototype.fieldSpec.push(["cf","writeFloatLE",4]),n.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]);var a=function(e,t){return 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o).endianess("little").uint8("job_type").uint8("status").uint16("cn0").uint8("int_time").nest("sid",{type:s.prototype.parser}).uint16("bin_width").uint32("timestamp").uint32("time_spent").int32("cf_min").int32("cf_max").int32("cf").uint32("cp"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["job_type","writeUInt8",1]),y.prototype.fieldSpec.push(["status","writeUInt8",1]),y.prototype.fieldSpec.push(["cn0","writeUInt16LE",2]),y.prototype.fieldSpec.push(["int_time","writeUInt8",1]),y.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),y.prototype.fieldSpec.push(["bin_width","writeUInt16LE",2]),y.prototype.fieldSpec.push(["timestamp","writeUInt32LE",4]),y.prototype.fieldSpec.push(["time_spent","writeUInt32LE",4]),y.prototype.fieldSpec.push(["cf_min","writeInt32LE",4]),y.prototype.fieldSpec.push(["cf_max","writeInt32LE",4]),y.prototype.fieldSpec.push(["cf","writeInt32LE",4]),y.prototype.fieldSpec.push(["cp","writeUInt32LE",4]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_SV_PROFILE",h.prototype.msg_type=46,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").array("acq_sv_profile",{type:u.prototype.parser,readUntil:"eof"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["acq_sv_profile","array",u.prototype.fieldSpec,function(){return this.fields.array.length},null]);var f=function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE_DEP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_SV_PROFILE_DEP",f.prototype.msg_type=30,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").array("acq_sv_profile",{type:y.prototype.parser,readUntil:"eof"}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["acq_sv_profile","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]),e.exports={47:n,MsgAcqResult:n,31:a,MsgAcqResultDepC:a,20:l,MsgAcqResultDepB:l,21:c,MsgAcqResultDepA:c,AcqSvProfile:u,AcqSvProfileDep:y,46:h,MsgAcqSvProfile:h,30:f,MsgAcqSvProfileDep:f}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_REQ",i.prototype.msg_type=179,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little"),i.prototype.fieldSpec=[];var s=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_RESP",s.prototype.msg_type=180,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint32("flags").string("version",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["flags","writeUInt32LE",4]),s.prototype.fieldSpec.push(["version","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_JUMP_TO_APP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_JUMP_TO_APP",n.prototype.msg_type=177,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint8("jump"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["jump","writeUInt8",1]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_REQ",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_NAP_DEVICE_DNA_REQ",a.prototype.msg_type=222,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little"),a.prototype.fieldSpec=[];var l=function(e,t){return p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_NAP_DEVICE_DNA_RESP",l.prototype.msg_type=221,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").array("dna",{length:8,type:"uint8"}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["dna","array","writeUInt8",function(){return 1},8]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",c.prototype.msg_type=176,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").array("handshake",{type:"uint8",readUntil:"eof"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["handshake","array","writeUInt8",function(){return 1},null]),e.exports={179:i,MsgBootloaderHandshakeReq:i,180:s,MsgBootloaderHandshakeResp:s,177:n,MsgBootloaderJumpToApp:n,222:a,MsgNapDeviceDnaReq:a,221:l,MsgNapDeviceDnaResp:l,176:c,MsgBootloaderHandshakeDepA:c}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_EXT_EVENT",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_EXT_EVENT",i.prototype.msg_type=257,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint16("wn").uint32("tow").int32("ns_residual").uint8("flags").uint8("pin"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["wn","writeUInt16LE",2]),i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["ns_residual","writeInt32LE",4]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]),i.prototype.fieldSpec.push(["pin","writeUInt8",1]),e.exports={257:i,MsgExtEvent:i}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_REQ",i.prototype.msg_type=168,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("sequence").uint32("offset").uint8("chunk_size").string("filename",{greedy:!0}),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),i.prototype.fieldSpec.push(["offset","writeUInt32LE",4]),i.prototype.fieldSpec.push(["chunk_size","writeUInt8",1]),i.prototype.fieldSpec.push(["filename","string",null]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_RESP",s.prototype.msg_type=163,s.prototype.constructor=s,s.prototype.parser=(new 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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 p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_GPS_TIME",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_GPS_TIME",i.prototype.msg_type=258,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint16("wn").uint32("tow").int32("ns_residual").uint8("flags"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["wn","writeUInt16LE",2]),i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["ns_residual","writeInt32LE",4]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_UTC_TIME",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_UTC_TIME",s.prototype.msg_type=259,s.prototype.constructor=s,s.prototype.parser=(new 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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 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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 I=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE_DEP",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE_DEP",I.prototype.msg_type=27,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:s.prototype.parser}),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["mask","writeUInt8",1]),I.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]);var T=function(e,t){return p.call(this,e),this.messageType="MSG_DEVICE_MONITOR",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="MSG_DEVICE_MONITOR",T.prototype.msg_type=181,T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").int16("dev_vin").int16("cpu_vint").int16("cpu_vaux").int16("cpu_temperature").int16("fe_temperature"),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["dev_vin","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_vint","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_vaux","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_temperature","writeInt16LE",2]),T.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 G=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_STATE_RESP",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_STATE_RESP",G.prototype.msg_type=187,G.prototype.constructor=G,G.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"),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["ipv4_address","array","writeUInt8",function(){return 1},4]),G.prototype.fieldSpec.push(["ipv4_mask_size","writeUInt8",1]),G.prototype.fieldSpec.push(["ipv6_address","array","writeUInt8",function(){return 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m=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};(m.prototype=Object.create(p.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",m.prototype.msg_type=1500,m.prototype.constructor=m,m.prototype.parser=(new 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b=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_CODE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(p.prototype)).messageType="MSG_SSR_CODE_BIASES",b.prototype.msg_type=1505,b.prototype.constructor=b,b.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"}),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),b.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),b.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),b.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),b.prototype.fieldSpec.push(["biases","array",a.prototype.fieldSpec,function(){return this.fields.array.length},null]);var v=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_PHASE_BIASES",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_SSR_PHASE_BIASES",v.prototype.msg_type=1510,v.prototype.constructor=v,v.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"}),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),v.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),v.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),v.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),v.prototype.fieldSpec.push(["dispersive_bias","writeUInt8",1]),v.prototype.fieldSpec.push(["mw_consistency","writeUInt8",1]),v.prototype.fieldSpec.push(["yaw","writeUInt16LE",2]),v.prototype.fieldSpec.push(["yaw_rate","writeInt8",1]),v.prototype.fieldSpec.push(["biases","array",l.prototype.fieldSpec,function(){return this.fields.array.length},null]);var L=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION",L.prototype.msg_type=1515,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").nest("header",{type:c.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["header",c.prototype.fieldSpec]),L.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var I=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD",I.prototype.msg_type=1520,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).nest("element",{type:S.prototype.parser}),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),I.prototype.fieldSpec.push(["element",S.prototype.fieldSpec]);var T=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION",T.prototype.msg_type=1530,T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).nest("element",{type:g.prototype.parser}),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),T.prototype.fieldSpec.push(["element",g.prototype.fieldSpec]);var M=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRID_DEFINITION",M.prototype.msg_type=1525,M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").nest("header",{type:w.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["header",w.prototype.fieldSpec]),M.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]),e.exports={CodeBiasesContent:a,PhaseBiasesContent:l,STECHeader:c,GriddedCorrectionHeader:u,STECSatElement:y,TroposphericDelayCorrectionNoStd:h,TroposphericDelayCorrection:f,STECResidualNoStd:d,STECResidual:_,GridElementNoStd:S,GridElement:g,GridDefinitionHeader:w,1501:E,MsgSsrOrbitClock:E,1500:m,MsgSsrOrbitClockDepA:m,1505:b,MsgSsrCodeBiases:b,1510:v,MsgSsrPhaseBiases:v,1515:L,MsgSsrStecCorrection:L,1520:I,MsgSsrGriddedCorrectionNoStd:I,1530:T,MsgSsrGriddedCorrection:T,1525:M,MsgSsrGridDefinition:M}},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]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_INS_UPDATES",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_INS_UPDATES",u.prototype.msg_type=65286,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("tow").uint8("gnsspos").uint8("gnssvel").uint8("wheelticks").uint8("speed").uint8("nhc").uint8("zerovel"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),u.prototype.fieldSpec.push(["gnsspos","writeUInt8",1]),u.prototype.fieldSpec.push(["gnssvel","writeUInt8",1]),u.prototype.fieldSpec.push(["wheelticks","writeUInt8",1]),u.prototype.fieldSpec.push(["speed","writeUInt8",1]),u.prototype.fieldSpec.push(["nhc","writeUInt8",1]),u.prototype.fieldSpec.push(["zerovel","writeUInt8",1]),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,65286:u,MsgInsUpdates:u}},function(e,t,r){var 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o).endianess("little").uint64("recv_time").nest("tot",{type:n.prototype.parser}).uint32("P").uint16("P_std").nest("L",{type:a.prototype.parser}).uint8("cn0").uint16("lock").nest("sid",{type:i.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"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["recv_time","writeUInt64LE",8]),c.prototype.fieldSpec.push(["tot",n.prototype.fieldSpec]),c.prototype.fieldSpec.push(["P","writeUInt32LE",4]),c.prototype.fieldSpec.push(["P_std","writeUInt16LE",2]),c.prototype.fieldSpec.push(["L",a.prototype.fieldSpec]),c.prototype.fieldSpec.push(["cn0","writeUInt8",1]),c.prototype.fieldSpec.push(["lock","writeUInt16LE",2]),c.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),c.prototype.fieldSpec.push(["doppler","writeInt32LE",4]),c.prototype.fieldSpec.push(["doppler_std","writeUInt16LE",2]),c.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),c.prototype.fieldSpec.push(["clock_offset","writeInt16LE",2]),c.prototype.fieldSpec.push(["clock_drift","writeInt16LE",2]),c.prototype.fieldSpec.push(["corr_spacing","writeUInt16LE",2]),c.prototype.fieldSpec.push(["acceleration","writeInt8",1]),c.prototype.fieldSpec.push(["sync_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["tow_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["track_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["nav_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["pset_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["misc_flags","writeUInt8",1]);var 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 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t=this._a00;if(this._a00=this._a32,this._a32=t,t=this._a48,this._a48=this._a16,this._a16=t,32==e)return this;e-=32}var r=this._a48<<16|this._a32,p=this._a16<<16|this._a00,o=r<>>32-e,i=p<>>32-e;return this._a00=65535&i,this._a16=i>>>16,this._a32=65535&o,this._a48=o>>>16,this},s.prototype.rotateRight=s.prototype.rotr=function(e){if(0==(e%=64))return this;if(e>=32){var t=this._a00;if(this._a00=this._a32,this._a32=t,t=this._a48,this._a48=this._a16,this._a16=t,32==e)return this;e-=32}var r=this._a48<<16|this._a32,p=this._a16<<16|this._a00,o=r>>>e|p<<32-e,i=p>>>e|r<<32-e;return this._a00=65535&i,this._a16=i>>>16,this._a32=65535&o,this._a48=o>>>16,this},s.prototype.clone=function(){return new s(this._a00,this._a16,this._a32,this._a48)},void 0===(p=function(){return s}.apply(t,[]))||(e.exports=p)}()},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=r(0).GnssSignalDep,n=(r(0).GPSTime,r(0).CarrierPhase,r(0).GPSTime,r(0).GPSTimeSec,r(0).GPSTimeDep,r(0).SvId,function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_RESULT",this.fields=t||this.parser.parse(e.payload),this});(n.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_RESULT",n.prototype.msg_type=47,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").floatle("cn0").floatle("cp").floatle("cf").nest("sid",{type:i.prototype.parser}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["cn0","writeFloatLE",4]),n.prototype.fieldSpec.push(["cp","writeFloatLE",4]),n.prototype.fieldSpec.push(["cf","writeFloatLE",4]),n.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]);var a=function(e,t){return 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p.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_SV_PROFILE",h.prototype.msg_type=46,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").array("acq_sv_profile",{type:u.prototype.parser,readUntil:"eof"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["acq_sv_profile","array",u.prototype.fieldSpec,function(){return this.fields.array.length},null]);var f=function(e,t){return p.call(this,e),this.messageType="MSG_ACQ_SV_PROFILE_DEP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(p.prototype)).messageType="MSG_ACQ_SV_PROFILE_DEP",f.prototype.msg_type=30,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").array("acq_sv_profile",{type:y.prototype.parser,readUntil:"eof"}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["acq_sv_profile","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]),e.exports={47:n,MsgAcqResult:n,31:a,MsgAcqResultDepC:a,20:l,MsgAcqResultDepB:l,21:c,MsgAcqResultDepA:c,AcqSvProfile:u,AcqSvProfileDep:y,46:h,MsgAcqSvProfile:h,30:f,MsgAcqSvProfileDep:f}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_REQ",i.prototype.msg_type=179,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little"),i.prototype.fieldSpec=[];var s=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_RESP",s.prototype.msg_type=180,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint32("flags").string("version",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["flags","writeUInt32LE",4]),s.prototype.fieldSpec.push(["version","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_JUMP_TO_APP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_JUMP_TO_APP",n.prototype.msg_type=177,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint8("jump"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["jump","writeUInt8",1]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_REQ",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_NAP_DEVICE_DNA_REQ",a.prototype.msg_type=222,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little"),a.prototype.fieldSpec=[];var l=function(e,t){return p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_NAP_DEVICE_DNA_RESP",l.prototype.msg_type=221,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").array("dna",{length:8,type:"uint8"}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["dna","array","writeUInt8",function(){return 1},8]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",c.prototype.msg_type=176,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").array("handshake",{type:"uint8",readUntil:"eof"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["handshake","array","writeUInt8",function(){return 1},null]),e.exports={179:i,MsgBootloaderHandshakeReq:i,180:s,MsgBootloaderHandshakeResp:s,177:n,MsgBootloaderJumpToApp:n,222:a,MsgNapDeviceDnaReq:a,221:l,MsgNapDeviceDnaResp:l,176:c,MsgBootloaderHandshakeDepA:c}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_EXT_EVENT",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_EXT_EVENT",i.prototype.msg_type=257,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint16("wn").uint32("tow").int32("ns_residual").uint8("flags").uint8("pin"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["wn","writeUInt16LE",2]),i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["ns_residual","writeInt32LE",4]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]),i.prototype.fieldSpec.push(["pin","writeUInt8",1]),e.exports={257:i,MsgExtEvent:i}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_REQ",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_REQ",i.prototype.msg_type=168,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("sequence").uint32("offset").uint8("chunk_size").string("filename",{greedy:!0}),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),i.prototype.fieldSpec.push(["offset","writeUInt32LE",4]),i.prototype.fieldSpec.push(["chunk_size","writeUInt8",1]),i.prototype.fieldSpec.push(["filename","string",null]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_RESP",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_RESP",s.prototype.msg_type=163,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint32("sequence").array("contents",{type:"uint8",readUntil:"eof"}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),s.prototype.fieldSpec.push(["contents","array","writeUInt8",function(){return 1},null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_REQ",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_DIR_REQ",n.prototype.msg_type=169,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint32("sequence").uint32("offset").string("dirname",{greedy:!0}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),n.prototype.fieldSpec.push(["offset","writeUInt32LE",4]),n.prototype.fieldSpec.push(["dirname","string",null]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_READ_DIR_RESP",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_READ_DIR_RESP",a.prototype.msg_type=170,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint32("sequence").array("contents",{type:"uint8",readUntil:"eof"}),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),a.prototype.fieldSpec.push(["contents","array","writeUInt8",function(){return 1},null]);var l=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_REMOVE",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_REMOVE",l.prototype.msg_type=172,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").string("filename",{greedy:!0}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["filename","string",null]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_WRITE_REQ",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_WRITE_REQ",c.prototype.msg_type=173,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("sequence").uint32("offset").string("filename",{greedy:!0}).array("data",{type:"uint8",readUntil:"eof"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),c.prototype.fieldSpec.push(["offset","writeUInt32LE",4]),c.prototype.fieldSpec.push(["filename","string",null]),c.prototype.fieldSpec.push(["data","array","writeUInt8",function(){return 1},null]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_WRITE_RESP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_WRITE_RESP",u.prototype.msg_type=171,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("sequence"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_CONFIG_REQ",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_CONFIG_REQ",y.prototype.msg_type=4097,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").uint32("sequence"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_FILEIO_CONFIG_RESP",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_FILEIO_CONFIG_RESP",h.prototype.msg_type=4098,h.prototype.constructor=h,h.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_STM_FLASH_LOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_STM_FLASH_LOCK_SECTOR",c.prototype.msg_type=227,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("sector"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["sector","writeUInt32LE",4]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_STM_FLASH_UNLOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_STM_FLASH_UNLOCK_SECTOR",u.prototype.msg_type=228,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("sector"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["sector","writeUInt32LE",4]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_STM_UNIQUE_ID_REQ",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_STM_UNIQUE_ID_REQ",y.prototype.msg_type=232,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little"),y.prototype.fieldSpec=[];var h=function(e,t){return p.call(this,e),this.messageType="MSG_STM_UNIQUE_ID_RESP",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_STM_UNIQUE_ID_RESP",h.prototype.msg_type=229,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").array("stm_id",{length:12,type:"uint8"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["stm_id","array","writeUInt8",function(){return 1},12]);var f=function(e,t){return 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p.call(this,e),this.messageType="MSG_LINUX_SOCKET_USAGE",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_SOCKET_USAGE",c.prototype.msg_type=32517,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("avg_queue_depth").uint32("max_queue_depth").array("socket_state_counts",{length:16,type:"uint16le"}).array("socket_type_counts",{length:16,type:"uint16le"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["avg_queue_depth","writeUInt32LE",4]),c.prototype.fieldSpec.push(["max_queue_depth","writeUInt32LE",4]),c.prototype.fieldSpec.push(["socket_state_counts","array","writeUInt16LE",function(){return 2},16]),c.prototype.fieldSpec.push(["socket_type_counts","array","writeUInt16LE",function(){return 2},16]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_COUNT",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_FD_COUNT",u.prototype.msg_type=32518,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint8("index").uint16("pid").uint16("fd_count").string("cmdline",{greedy:!0}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["index","writeUInt8",1]),u.prototype.fieldSpec.push(["pid","writeUInt16LE",2]),u.prototype.fieldSpec.push(["fd_count","writeUInt16LE",2]),u.prototype.fieldSpec.push(["cmdline","string",null]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_SUMMARY",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_FD_SUMMARY",y.prototype.msg_type=32519,y.prototype.constructor=y,y.prototype.parser=(new 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s=function(e,t){return p.call(this,e),this.messageType="MSG_FWD",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_FWD",s.prototype.msg_type=1026,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("source").uint8("protocol").string("fwd_payload",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["source","writeUInt8",1]),s.prototype.fieldSpec.push(["protocol","writeUInt8",1]),s.prototype.fieldSpec.push(["fwd_payload","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_PRINT_DEP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_PRINT_DEP",n.prototype.msg_type=16,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").string("text",{greedy:!0}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["text","string",null]),e.exports={1025:i,MsgLog:i,1026:s,MsgFwd:s,16:n,MsgPrintDep:n}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_MAG_RAW",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_MAG_RAW",i.prototype.msg_type=2306,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").uint8("tow_f").int16("mag_x").int16("mag_y").int16("mag_z"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["tow_f","writeUInt8",1]),i.prototype.fieldSpec.push(["mag_x","writeInt16LE",2]),i.prototype.fieldSpec.push(["mag_y","writeInt16LE",2]),i.prototype.fieldSpec.push(["mag_z","writeInt16LE",2]),e.exports={2306:i,MsgMagRaw:i}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_GPS_TIME",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_GPS_TIME",i.prototype.msg_type=258,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint16("wn").uint32("tow").int32("ns_residual").uint8("flags"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["wn","writeUInt16LE",2]),i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["ns_residual","writeInt32LE",4]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_UTC_TIME",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_UTC_TIME",s.prototype.msg_type=259,s.prototype.constructor=s,s.prototype.parser=(new 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o).endianess("little").uint32("tow").uint16("gdop").uint16("pdop").uint16("tdop").uint16("hdop").uint16("vdop").uint8("flags"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),n.prototype.fieldSpec.push(["gdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["pdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["tdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["hdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["vdop","writeUInt16LE",2]),n.prototype.fieldSpec.push(["flags","writeUInt8",1]);var a=function(e,t){return p.call(this,e),this.messageType="MSG_POS_ECEF",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(p.prototype)).messageType="MSG_POS_ECEF",a.prototype.msg_type=521,a.prototype.constructor=a,a.prototype.parser=(new 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v=function(e,t){return p.call(this,e),this.messageType="MSG_EPHEMERIS_GPS",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(p.prototype)).messageType="MSG_EPHEMERIS_GPS",v.prototype.msg_type=138,v.prototype.constructor=v,v.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 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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 I=function(e,t){return p.call(this,e),this.messageType="MSG_MASK_SATELLITE_DEP",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_MASK_SATELLITE_DEP",I.prototype.msg_type=27,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").uint8("mask").nest("sid",{type:s.prototype.parser}),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["mask","writeUInt8",1]),I.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]);var T=function(e,t){return p.call(this,e),this.messageType="MSG_DEVICE_MONITOR",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="MSG_DEVICE_MONITOR",T.prototype.msg_type=181,T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").int16("dev_vin").int16("cpu_vint").int16("cpu_vaux").int16("cpu_temperature").int16("fe_temperature"),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["dev_vin","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_vint","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_vaux","writeInt16LE",2]),T.prototype.fieldSpec.push(["cpu_temperature","writeInt16LE",2]),T.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 G=function(e,t){return p.call(this,e),this.messageType="MSG_NETWORK_STATE_RESP",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(p.prototype)).messageType="MSG_NETWORK_STATE_RESP",G.prototype.msg_type=187,G.prototype.constructor=G,G.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"),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["ipv4_address","array","writeUInt8",function(){return 1},4]),G.prototype.fieldSpec.push(["ipv4_mask_size","writeUInt8",1]),G.prototype.fieldSpec.push(["ipv6_address","array","writeUInt8",function(){return 1},16]),G.prototype.fieldSpec.push(["ipv6_mask_size","writeUInt8",1]),G.prototype.fieldSpec.push(["rx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["tx_bytes","writeUInt32LE",4]),G.prototype.fieldSpec.push(["interface_name","string",16]),G.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);var A=function(e,t){return p.call(this,e),this.messageType="NetworkUsage",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(p.prototype)).messageType="NetworkUsage",A.prototype.constructor=A,A.prototype.parser=(new o).endianess("little").uint64("duration").uint64("total_bytes").uint32("rx_bytes").uint32("tx_bytes").string("interface_name",{length:16}),A.prototype.fieldSpec=[],A.prototype.fieldSpec.push(["duration","writeUInt64LE",8]),A.prototype.fieldSpec.push(["total_bytes","writeUInt64LE",8]),A.prototype.fieldSpec.push(["rx_bytes","writeUInt32LE",4]),A.prototype.fieldSpec.push(["tx_bytes","writeUInt32LE",4]),A.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:A.prototype.parser,readUntil:"eof"}),R.prototype.fieldSpec=[],R.prototype.fieldSpec.push(["interfaces","array",A.prototype.fieldSpec,function(){return this.fields.array.length},null]);var C=function(e,t){return p.call(this,e),this.messageType="MSG_CELL_MODEM_STATUS",this.fields=t||this.parser.parse(e.payload),this};(C.prototype=Object.create(p.prototype)).messageType="MSG_CELL_MODEM_STATUS",C.prototype.msg_type=190,C.prototype.constructor=C,C.prototype.parser=(new o).endianess("little").int8("signal_strength").floatle("signal_error_rate").array("reserved",{type:"uint8",readUntil:"eof"}),C.prototype.fieldSpec=[],C.prototype.fieldSpec.push(["signal_strength","writeInt8",1]),C.prototype.fieldSpec.push(["signal_error_rate","writeFloatLE",4]),C.prototype.fieldSpec.push(["reserved","array","writeUInt8",function(){return 1},null]);var P=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN_DEP",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN_DEP",P.prototype.msg_type=80,P.prototype.constructor=P,P.prototype.parser=(new 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"}),P.prototype.fieldSpec=[],P.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),P.prototype.fieldSpec.push(["t",a.prototype.fieldSpec]),P.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),P.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),P.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),P.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),P.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var N=function(e,t){return p.call(this,e),this.messageType="MSG_SPECAN",this.fields=t||this.parser.parse(e.payload),this};(N.prototype=Object.create(p.prototype)).messageType="MSG_SPECAN",N.prototype.msg_type=81,N.prototype.constructor=N,N.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"}),N.prototype.fieldSpec=[],N.prototype.fieldSpec.push(["channel_tag","writeUInt16LE",2]),N.prototype.fieldSpec.push(["t",n.prototype.fieldSpec]),N.prototype.fieldSpec.push(["freq_ref","writeFloatLE",4]),N.prototype.fieldSpec.push(["freq_step","writeFloatLE",4]),N.prototype.fieldSpec.push(["amplitude_ref","writeFloatLE",4]),N.prototype.fieldSpec.push(["amplitude_unit","writeFloatLE",4]),N.prototype.fieldSpec.push(["amplitude_value","array","writeUInt8",function(){return 1},null]);var j=function(e,t){return p.call(this,e),this.messageType="MSG_FRONT_END_GAIN",this.fields=t||this.parser.parse(e.payload),this};(j.prototype=Object.create(p.prototype)).messageType="MSG_FRONT_END_GAIN",j.prototype.msg_type=191,j.prototype.constructor=j,j.prototype.parser=(new 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p.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(p.prototype)).messageType="MSG_SSR_STEC_CORRECTION",L.prototype.msg_type=1515,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").nest("header",{type:c.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["header",c.prototype.fieldSpec]),L.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);var I=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD",I.prototype.msg_type=1520,I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).nest("element",{type:S.prototype.parser}),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),I.prototype.fieldSpec.push(["element",S.prototype.fieldSpec]);var T=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION",T.prototype.msg_type=1530,T.prototype.constructor=T,T.prototype.parser=(new o).endianess("little").nest("header",{type:u.prototype.parser}).nest("element",{type:g.prototype.parser}),T.prototype.fieldSpec=[],T.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),T.prototype.fieldSpec.push(["element",g.prototype.fieldSpec]);var M=function(e,t){return p.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(p.prototype)).messageType="MSG_SSR_GRID_DEFINITION",M.prototype.msg_type=1525,M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").nest("header",{type:w.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["header",w.prototype.fieldSpec]),M.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]),e.exports={CodeBiasesContent:a,PhaseBiasesContent:l,STECHeader:c,GriddedCorrectionHeader:u,STECSatElement:y,TroposphericDelayCorrectionNoStd:h,TroposphericDelayCorrection:f,STECResidualNoStd:d,STECResidual:_,GridElementNoStd:S,GridElement:g,GridDefinitionHeader:w,1501:E,MsgSsrOrbitClock:E,1500:m,MsgSsrOrbitClockDepA:m,1505:b,MsgSsrCodeBiases:b,1510:v,MsgSsrPhaseBiases:v,1515:L,MsgSsrStecCorrection:L,1520:I,MsgSsrGriddedCorrectionNoStd:I,1530:T,MsgSsrGriddedCorrection:T,1525:M,MsgSsrGridDefinition:M}},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]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_INS_UPDATES",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_INS_UPDATES",u.prototype.msg_type=65286,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("tow").uint8("gnsspos").uint8("gnssvel").uint8("wheelticks").uint8("speed").uint8("nhc").uint8("zerovel"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),u.prototype.fieldSpec.push(["gnsspos","writeUInt8",1]),u.prototype.fieldSpec.push(["gnssvel","writeUInt8",1]),u.prototype.fieldSpec.push(["wheelticks","writeUInt8",1]),u.prototype.fieldSpec.push(["speed","writeUInt8",1]),u.prototype.fieldSpec.push(["nhc","writeUInt8",1]),u.prototype.fieldSpec.push(["zerovel","writeUInt8",1]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_GNSS_TIME_OFFSET",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_GNSS_TIME_OFFSET",y.prototype.msg_type=65287,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").int16("weeks").int32("milliseconds").int16("microseconds").uint8("flags"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["weeks","writeInt16LE",2]),y.prototype.fieldSpec.push(["milliseconds","writeInt32LE",4]),y.prototype.fieldSpec.push(["microseconds","writeInt16LE",2]),y.prototype.fieldSpec.push(["flags","writeUInt8",1]),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,65286:u,MsgInsUpdates:u,65287:y,MsgGnssTimeOffset:y}},function(e,t,r){var 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y=function(e,t){return p.call(this,e),this.messageType="TrackingChannelState",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="TrackingChannelState",y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint8("fcn").uint8("cn0"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),y.prototype.fieldSpec.push(["fcn","writeUInt8",1]),y.prototype.fieldSpec.push(["cn0","writeUInt8",1]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_STATE",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_STATE",h.prototype.msg_type=65,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").array("states",{type:y.prototype.parser,readUntil:"eof"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["states","array",y.prototype.fieldSpec,function(){return 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]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_WHEELTICK",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_WHEELTICK",s.prototype.msg_type=2308,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint64("time").uint8("flags").uint8("source").int32("ticks"),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["time","writeUInt64LE",8]),s.prototype.fieldSpec.push(["flags","writeUInt8",1]),s.prototype.fieldSpec.push(["source","writeUInt8",1]),s.prototype.fieldSpec.push(["ticks","writeInt32LE",4]),e.exports={2307:i,MsgOdometry:i,2308:s,MsgWheeltick: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_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/imu.js b/javascript/sbp/imu.js index b957b348fc..c3b6a708f9 100644 --- a/javascript/sbp/imu.js +++ b/javascript/sbp/imu.js @@ -29,7 +29,11 @@ var UInt64 = require('cuint').UINT64; * Raw data from the Inertial Measurement Unit, containing accelerometer and * gyroscope readings. The sense of the measurements are to be aligned with the * indications on the device itself. Measurement units, which are specific to the - * device hardware and settings, are communicated via the MSG_IMU_AUX message. + * device hardware and settings, are communicated via the MSG_IMU_AUX message. If + * using "time since startup" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU + * measurements with GNSS. The time-tagging mode should not change throughout a + * run. * * Fields in the SBP payload (`sbp.payload`): * @field tow number (unsigned 32-bit int, 4 bytes) Milliseconds since reference epoch and time status. diff --git a/javascript/sbp/system.js b/javascript/sbp/system.js index 29abee1a9e..a23d97f967 100644 --- a/javascript/sbp/system.js +++ b/javascript/sbp/system.js @@ -267,6 +267,44 @@ MsgInsUpdates.prototype.fieldSpec.push(['speed', 'writeUInt8', 1]); MsgInsUpdates.prototype.fieldSpec.push(['nhc', 'writeUInt8', 1]); MsgInsUpdates.prototype.fieldSpec.push(['zerovel', 'writeUInt8', 1]); +/** + * SBP class for message MSG_GNSS_TIME_OFFSET (0xFF07). + * + * The GNSS time offset message contains the information that is needed to + * translate messages tagged with a local timestamp (e.g. IMU or wheeltick + * messages) to GNSS time for the sender producing this message. + * + * Fields in the SBP payload (`sbp.payload`): + * @field weeks number (signed 16-bit int, 2 bytes) Weeks portion of the time offset + * @field milliseconds number (signed 32-bit int, 4 bytes) Milliseconds portion of the time offset + * @field microseconds number (signed 16-bit int, 2 bytes) Microseconds portion of the time offset + * @field flags number (unsigned 8-bit int, 1 byte) Status flags (reserved) + * + * @param sbp An SBP object with a payload to be decoded. + */ +var MsgGnssTimeOffset = function (sbp, fields) { + SBP.call(this, sbp); + this.messageType = "MSG_GNSS_TIME_OFFSET"; + this.fields = (fields || this.parser.parse(sbp.payload)); + + return this; +}; +MsgGnssTimeOffset.prototype = Object.create(SBP.prototype); +MsgGnssTimeOffset.prototype.messageType = "MSG_GNSS_TIME_OFFSET"; +MsgGnssTimeOffset.prototype.msg_type = 0xFF07; +MsgGnssTimeOffset.prototype.constructor = MsgGnssTimeOffset; +MsgGnssTimeOffset.prototype.parser = new Parser() + .endianess('little') + .int16('weeks') + .int32('milliseconds') + .int16('microseconds') + .uint8('flags'); +MsgGnssTimeOffset.prototype.fieldSpec = []; +MsgGnssTimeOffset.prototype.fieldSpec.push(['weeks', 'writeInt16LE', 2]); +MsgGnssTimeOffset.prototype.fieldSpec.push(['milliseconds', 'writeInt32LE', 4]); +MsgGnssTimeOffset.prototype.fieldSpec.push(['microseconds', 'writeInt16LE', 2]); +MsgGnssTimeOffset.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); + module.exports = { 0xFF00: MsgStartup, MsgStartup: MsgStartup, @@ -282,4 +320,6 @@ module.exports = { MsgCsacTelemetryLabels: MsgCsacTelemetryLabels, 0xFF06: MsgInsUpdates, MsgInsUpdates: MsgInsUpdates, + 0xFF07: MsgGnssTimeOffset, + MsgGnssTimeOffset: MsgGnssTimeOffset, } \ No newline at end of file diff --git a/javascript/sbp/vehicle.js b/javascript/sbp/vehicle.js index a83d353536..7e42de54f8 100644 --- a/javascript/sbp/vehicle.js +++ b/javascript/sbp/vehicle.js @@ -30,7 +30,10 @@ var UInt64 = require('cuint').UINT64; * the odometry reference point(s) specified by the user. The offset for the * odometry reference point and the definition and origin of the user frame are * defined through the device settings interface. There are 4 possible user-defined - * sources of this message which are labeled arbitrarily source 0 through 3. + * sources of this message which are labeled arbitrarily source 0 through 3. If + * using "processor time" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise odometry + * measurements with GNSS. * * Fields in the SBP payload (`sbp.payload`): * @field tow number (unsigned 32-bit int, 4 bytes) Time field representing either milliseconds in the GPS Week or local CPU time @@ -72,7 +75,9 @@ MsgOdometry.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); * by the source field, which is an integer ranging from 0 to 255. The timestamp * associated with this message should represent the time when the accumulated tick * count reached the value given by the contents of this message as accurately as - * possible. + * possible. If using "local CPU time" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise wheeltick + * measurements with GNSS. * * Fields in the SBP payload (`sbp.payload`): * @field time number (unsigned 64-bit int, 8 bytes) Time field representing either microseconds since the last PPS, microseconds in diff --git a/jsonschema/MsgGnssTimeOffset.json b/jsonschema/MsgGnssTimeOffset.json new file mode 100644 index 0000000000..e2a92d79fc --- /dev/null +++ b/jsonschema/MsgGnssTimeOffset.json @@ -0,0 +1,30 @@ +{ + "copyright": [ + "Copyright (C) 2019 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." + ], + "$schema": "http://json-schema.org/draft-06/schema#", + "$id": "#MsgGnssTimeOffset", + "title":"MsgGnssTimeOffset", + "description":"The GNSS time offset message contains the information that is needed to translate messages,\ntagged with a local timestamp (e.g. IMU or wheeltick messages) to GNSS time for the sender,\nproducing this message.\n", + "type": "object", + "properties": { + "weeks": {"type": "integer"}, + "milliseconds": {"type": "integer"}, + "microseconds": {"type": "integer"}, + "flags": {"type": "integer"} + }, + "required": [ + "weeks", + "milliseconds", + "microseconds", + "flags" + ] +} \ No newline at end of file diff --git a/jsonschema/MsgImuRaw.json b/jsonschema/MsgImuRaw.json index 25c89043da..9a0179574e 100644 --- a/jsonschema/MsgImuRaw.json +++ b/jsonschema/MsgImuRaw.json @@ -13,7 +13,7 @@ "$schema": "http://json-schema.org/draft-06/schema#", "$id": "#MsgImuRaw", "title":"MsgImuRaw", - "description":"Raw data from the Inertial Measurement Unit, containing accelerometer and,\ngyroscope readings. The sense of the measurements are to be aligned with ,\nthe indications on the device itself. Measurement units, which are specific to the,\ndevice hardware and settings, are communicated via the MSG_IMU_AUX message.\n", + "description":"Raw data from the Inertial Measurement Unit, containing accelerometer and,\ngyroscope readings. The sense of the measurements are to be aligned with ,\nthe indications on the device itself. Measurement units, which are specific to the,\ndevice hardware and settings, are communicated via the MSG_IMU_AUX message.,\nIf using \"time since startup\" time tags, the receiving end will expect a,\n`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements,\nwith GNSS.,\n,\nThe time-tagging mode should not change throughout a run.\n", "type": "object", "properties": { "tow": {"type": "integer"}, diff --git a/jsonschema/MsgOdometry.json b/jsonschema/MsgOdometry.json index 80c7dc92d8..01eb9b9b3f 100644 --- a/jsonschema/MsgOdometry.json +++ b/jsonschema/MsgOdometry.json @@ -13,7 +13,7 @@ "$schema": "http://json-schema.org/draft-06/schema#", "$id": "#MsgOdometry", "title":"MsgOdometry", - "description":"Message representing the x component of vehicle velocity in the user frame at the odometry,\nreference point(s) specified by the user. The offset for the odometry reference point and ,\nthe definition and origin of the user frame are defined through the device settings interface.,\nThere are 4 possible user-defined sources of this message which are labeled arbitrarily ,\nsource 0 through 3.\n", + "description":"Message representing the x component of vehicle velocity in the user frame at the odometry,\nreference point(s) specified by the user. The offset for the odometry reference point and ,\nthe definition and origin of the user frame are defined through the device settings interface.,\nThere are 4 possible user-defined sources of this message which are labeled arbitrarily ,\nsource 0 through 3.,\nIf using \"processor time\" time tags, the receiving end will expect a,\n`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise odometry measurements,\nwith GNSS.\n", "type": "object", "properties": { "tow": {"type": "integer"}, diff --git a/jsonschema/MsgWheeltick.json b/jsonschema/MsgWheeltick.json index 6d82870b23..c028518ad5 100644 --- a/jsonschema/MsgWheeltick.json +++ b/jsonschema/MsgWheeltick.json @@ -13,7 +13,7 @@ "$schema": "http://json-schema.org/draft-06/schema#", "$id": "#MsgWheeltick", "title":"MsgWheeltick", - "description":"Message containing the accumulated distance travelled by a wheel located at an odometry,\nreference point defined by the user. The offset for the odometry reference point and the,\ndefinition and origin of the user frame are defined through the device settings interface.,\nThe source of this message is identified by the source field, which is an integer ranging,\nfrom 0 to 255.,\nThe timestamp associated with this message should represent the time when the accumulated,\ntick count reached the value given by the contents of this message as accurately as possible.\n", + "description":"Message containing the accumulated distance travelled by a wheel located at an odometry,\nreference point defined by the user. The offset for the odometry reference point and the,\ndefinition and origin of the user frame are defined through the device settings interface.,\nThe source of this message is identified by the source field, which is an integer ranging,\nfrom 0 to 255.,\nThe timestamp associated with this message should represent the time when the accumulated,\ntick count reached the value given by the contents of this message as accurately as possible.,\nIf using \"local CPU time\" time tags, the receiving end will expect a,\n`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise wheeltick measurements,\nwith GNSS.\n", "type": "object", "properties": { "time": {"type": "integer"}, diff --git a/package-lock.json b/package-lock.json index 354dbe2af6..69d6de8d6a 100644 --- a/package-lock.json +++ b/package-lock.json @@ -78,7 +78,7 @@ "integrity": "sha512-Mmqx/cS68K1tSrvRLtaV/Lp3NZWzXtOHUW2IvDvl2sihAwJh4ACE0eL6A8FvMyDG9abes3saB6dMimLOs+HMoQ==", "dev": true, "requires": { - "@xtuc/ieee754": "^1.2.0" + "@xtuc/ieee754": "1.2.0" } }, "@webassemblyjs/leb128": { @@ -200,7 +200,7 @@ "integrity": "sha512-zVWV8Z8lislJoOKKqdNMOB+s6+XV5WERty8MnKBeFgwA+19XJjJHs2RP5dzM57FftIs+jQnRToLiWazKr6sSWg==", "dev": true, "requires": { - "acorn": "^5.0.0" + "acorn": "5.7.4" } }, "ajv": { @@ -209,10 +209,10 @@ "integrity": "sha512-ZoJjft5B+EJBjUyu9C9Hc0OZyPZSSlOF+plzouTrg6UlA8f+e/n8NIgBFG/9tppJtpPWfthHakK7juJdNDODww==", "dev": true, "requires": { - "fast-deep-equal": "^2.0.1", - "fast-json-stable-stringify": "^2.0.0", - "json-schema-traverse": "^0.4.1", - "uri-js": "^4.2.2" + "fast-deep-equal": "2.0.1", + "fast-json-stable-stringify": "2.0.0", + "json-schema-traverse": "0.4.1", + "uri-js": "4.2.2" }, "dependencies": { "json-schema-traverse": { @@ -233,7 +233,7 @@ "integrity": "sha512-KY9Frmirql91X2Qgjry0Wd4Y+YTdrdZheS8TFwvkbLWf/G5KNJDCh6pKL5OZctEW4+0Baa5idK2ZQuELRwPznQ==", "dev": true, "requires": { - "punycode": "^2.1.0" + "punycode": "2.1.1" } } } @@ -355,33 +355,33 @@ "integrity": "sha1-csMd4qDZoszQysMMyYI+6y9kNLU=", "dev": true, "requires": { - "ansi-bgblack": "^0.1.1", - "ansi-bgblue": "^0.1.1", - "ansi-bgcyan": "^0.1.1", - "ansi-bggreen": "^0.1.1", - "ansi-bgmagenta": "^0.1.1", - "ansi-bgred": "^0.1.1", - "ansi-bgwhite": "^0.1.1", - "ansi-bgyellow": "^0.1.1", - "ansi-black": "^0.1.1", - "ansi-blue": "^0.1.1", - "ansi-bold": "^0.1.1", - "ansi-cyan": "^0.1.1", - "ansi-dim": "^0.1.1", - "ansi-gray": "^0.1.1", - "ansi-green": "^0.1.1", - "ansi-grey": "^0.1.1", - "ansi-hidden": "^0.1.1", - "ansi-inverse": "^0.1.1", - "ansi-italic": "^0.1.1", - "ansi-magenta": "^0.1.1", - "ansi-red": "^0.1.1", - "ansi-reset": "^0.1.1", - "ansi-strikethrough": "^0.1.1", - "ansi-underline": "^0.1.1", - "ansi-white": "^0.1.1", - "ansi-yellow": "^0.1.1", - "lazy-cache": "^2.0.1" + "ansi-bgblack": "0.1.1", + "ansi-bgblue": "0.1.1", + "ansi-bgcyan": "0.1.1", + "ansi-bggreen": "0.1.1", + "ansi-bgmagenta": "0.1.1", + "ansi-bgred": "0.1.1", + "ansi-bgwhite": "0.1.1", + "ansi-bgyellow": "0.1.1", + "ansi-black": "0.1.1", + "ansi-blue": "0.1.1", + "ansi-bold": "0.1.1", + "ansi-cyan": "0.1.1", + "ansi-dim": "0.1.1", + "ansi-gray": "0.1.1", + "ansi-green": "0.1.1", + "ansi-grey": "0.1.1", + "ansi-hidden": "0.1.1", + "ansi-inverse": "0.1.1", + "ansi-italic": "0.1.1", + "ansi-magenta": "0.1.1", + "ansi-red": "0.1.1", + "ansi-reset": "0.1.1", + "ansi-strikethrough": "0.1.1", + "ansi-underline": "0.1.1", + "ansi-white": "0.1.1", + "ansi-yellow": "0.1.1", + "lazy-cache": "2.0.2" } }, "ansi-cyan": { @@ -504,7 +504,7 @@ "integrity": "sha512-VT0ZI6kZRdTh8YyJw3SMbYm/u+NqfsAxEpWO0Pf9sq8/e94WxxOpPKx9FR1FlyCtOVDNOQ+8ntlqFxiRc+r5qA==", "dev": true, "requires": { - "color-convert": "^1.9.0" + "color-convert": "1.9.3" } }, "ansi-underline": { @@ -546,8 +546,8 @@ "integrity": "sha512-5teOsQWABXHHBFP9y3skS5P3d/WfWXpv3FUpy+LorMrNYaT9pI4oLMQX7jzQ2KklNpGpWHzdCXTDT2Y3XGlZBw==", "dev": true, "requires": { - "micromatch": "^3.1.4", - "normalize-path": "^2.1.1" + "micromatch": "3.1.10", + "normalize-path": "2.1.1" }, "dependencies": { "normalize-path": { @@ -556,7 +556,7 @@ "integrity": "sha1-GrKLVW4Zg2Oowab35vogE3/mrtk=", "dev": true, "requires": { - "remove-trailing-separator": "^1.0.1" + "remove-trailing-separator": "1.1.0" } } } @@ -573,8 +573,8 @@ "integrity": "sha1-u13KOCu5TwXhUZQ3PRb9O6HKEQ0=", "dev": true, "requires": { - "delegates": "^1.0.0", - "readable-stream": "^2.0.6" + "delegates": "1.0.0", + "readable-stream": "2.3.6" } }, "argparse": { @@ -582,7 +582,7 @@ "resolved": "https://registry.npmjs.org/argparse/-/argparse-1.0.10.tgz", "integrity": "sha1-vNZ5HqWuCXJeF+WtmIE0zUCz2RE=", "requires": { - "sprintf-js": "~1.0.2" + "sprintf-js": "1.0.3" } }, "arr-diff": { @@ -603,7 +603,7 @@ "integrity": "sha1-FHWQ7WX8gVvAf+8Jl8Llgj1kNTQ=", "dev": true, "requires": { - "is-number": "^3.0.0" + "is-number": "3.0.0" } }, "arr-union": { @@ -624,7 +624,7 @@ "integrity": "sha512-jxwzQpLQjSmWXgwaCZE9Nz+glAG01yF1QnWgbhGwHI5A6FRIEY6IVqtHhIepHqI7/kyEyQEagBC5mBEFlIYvdg==", "dev": true, "requires": { - "safer-buffer": "~2.1.0" + "safer-buffer": "2.1.2" } }, "asn1.js": { @@ -633,9 +633,9 @@ "integrity": "sha512-p32cOF5q0Zqs9uBiONKYLm6BClCoBCM5O9JfeUSlnQLBTxYdTK+pW+nXflm8UkKd2UYlEbYz5qEi0JuZR9ckSw==", "dev": true, "requires": { - "bn.js": "^4.0.0", - "inherits": "^2.0.1", - "minimalistic-assert": "^1.0.0" + "bn.js": "4.11.8", + "inherits": "2.0.3", + "minimalistic-assert": "1.0.1" } }, "assert": { @@ -655,7 +655,7 @@ }, "util": { "version": "0.10.3", - "resolved": "https://registry.npmjs.org/util/-/util-0.10.3.tgz", + "resolved": "http://registry.npmjs.org/util/-/util-0.10.3.tgz", "integrity": "sha1-evsa/lCAUkZInj23/g7TeTNqwPk=", "dev": true, "requires": { @@ -718,13 +718,13 @@ "integrity": "sha512-5T6P4xPgpp0YDFvSWwEZ4NoE3aM4QBQXDzmVbraCkFj8zHM+mba8SyqB5DbZWyR7mYHo6Y7BdQo3MoA4m0TeQg==", "dev": true, "requires": { - "cache-base": "^1.0.1", - "class-utils": "^0.3.5", - "component-emitter": "^1.2.1", - "define-property": "^1.0.0", - "isobject": "^3.0.1", - "mixin-deep": "^1.2.0", - "pascalcase": "^0.1.1" + "cache-base": "1.0.1", + "class-utils": "0.3.6", + "component-emitter": "1.2.1", + "define-property": "1.0.0", + "isobject": "3.0.1", + "mixin-deep": "1.3.2", + "pascalcase": "0.1.1" } }, "base64-js": { @@ -739,7 +739,7 @@ "integrity": "sha1-pDAdOJtqQ/m2f/PKEaP2Y342Dp4=", "dev": true, "requires": { - "tweetnacl": "^0.14.3" + "tweetnacl": "0.14.5" } }, "benchmark": { @@ -748,8 +748,8 @@ "integrity": "sha1-CfPeMckWQl1JjMLuVloOvzwqVik=", "dev": true, "requires": { - "lodash": "^4.17.4", - "platform": "^1.3.3" + "lodash": "4.17.19", + "platform": "1.3.5" } }, "big.js": { @@ -765,8 +765,7 @@ "dev": true }, "binary-parser": { - "version": "git://github.com/swift-nav/binary-parser.git#f74419e5077a3c534ecc1724776377ea78df4451", - "from": "git://github.com/swift-nav/binary-parser.git#jgross-greedy-string" + "version": "git://github.com/swift-nav/binary-parser.git#f74419e5077a3c534ecc1724776377ea78df4451" }, "bindings": { "version": "1.3.0", @@ -780,8 +779,8 @@ "integrity": "sha512-e8tQYnZodmebYDWGH7KMRvtzKXaJHx3BbilrgZCfvyLUYdKpK1t5PSPmpkny/SgiTSCnjfLW7v5rlONXVFkQEA==", "dev": true, "requires": { - 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"map-visit": "^1.0.0", - "object-visit": "^1.0.0" + "map-visit": "1.0.0", + "object-visit": "1.0.1" } }, "color-convert": { @@ -1303,7 +1302,7 @@ "integrity": "sha512-brWl9y6vOB1xYPZcpZde3N9zDByXTosAeMDo4p1wzo6UMOX4vumB+TP1RZ76sfE6Md68Q0NJSrE/gbezd4Ul+w==", "dev": true, "requires": { - "delayed-stream": "~1.0.0" + "delayed-stream": "1.0.0" } }, "commondir": { @@ -1330,10 +1329,10 @@ "integrity": "sha512-27HBghJxjiZtIk3Ycvn/4kbJk/1uZuJFfuPEns6LaEvpvG1f0hTea8lilrouyo9mVc2GWdcEZ8OLoGmSADlrCw==", "dev": true, "requires": { - "buffer-from": "^1.0.0", - "inherits": "^2.0.3", - "readable-stream": "^2.2.2", - "typedarray": "^0.0.6" + "buffer-from": "1.1.1", + "inherits": "2.0.3", + "readable-stream": "2.3.6", + "typedarray": "0.0.6" } }, "console-browserify": { @@ -1342,7 +1341,7 @@ "integrity": "sha1-8CQcRXMKn8YyOyBtvzjtx0HQuxA=", "dev": true, "requires": { - "date-now": "^0.1.4" + "date-now": "0.1.4" } }, "console-control-strings": { @@ -1363,12 +1362,12 @@ "integrity": "sha512-f2domd9fsVDFtaFcbaRZuYXwtdmnzqbADSwhSWYxYB/Q8zsdUUFMXVRwXGDMWmbEzAn1kdRrtI1T/KTFOL4X2A==", "dev": true, "requires": { - 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"object-keys": "^1.0.12" + "object-keys": "1.1.1" } }, "define-property": { @@ -1529,7 +1528,7 @@ "integrity": "sha1-dp66rz9KY6rTr56NMEybvnm/sOY=", "dev": true, "requires": { - "is-descriptor": "^1.0.0" + "is-descriptor": "1.0.2" } }, "delayed-stream": { @@ -1550,8 +1549,8 @@ "integrity": "sha1-wHTS4qpqipoH29YfmhXCzYPsjsw=", "dev": true, "requires": { - "inherits": "^2.0.1", - "minimalistic-assert": "^1.0.0" + "inherits": "2.0.3", + "minimalistic-assert": "1.0.1" } }, "detect-libc": { @@ -1572,9 +1571,9 @@ "integrity": "sha512-kqag/Nl+f3GwyK25fhUMYj81BUOrZ9IuJsjIcDE5icNM9FJHAVm3VcUDxdLPoQtTuUylWm6ZIknYJwwaPxsUzg==", "dev": true, "requires": { - "bn.js": "^4.1.0", - "miller-rabin": "^4.0.0", - "randombytes": "^2.0.0" + "bn.js": "4.11.8", + "miller-rabin": "4.0.1", + "randombytes": "2.0.6" } }, "domain-browser": { @@ -1589,10 +1588,10 @@ "integrity": "sha512-07z8uv2wMyS51kKhD1KsdXJg5WQ6t93RneqRxUHnskXVtlYYkLqM0gqStQZ3pj073g687jPCHrqNfCzawLYh5g==", "dev": true, "requires": { - "end-of-stream": "^1.0.0", - 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"once": "^1.4.0" + "once": "1.4.0" } }, "enhanced-resolve": { @@ -1647,9 +1646,9 @@ "integrity": "sha512-F/7vkyTtyc/llOIn8oWclcB25KdRaiPBpZYDgJHgh/UHtpgT2p2eldQgtQnLtUvfMKPKxbRaQM/hHkvLHt1Vng==", "dev": true, "requires": { - "graceful-fs": "^4.1.2", - "memory-fs": "^0.4.0", - "tapable": "^1.0.0" + "graceful-fs": "4.1.11", + "memory-fs": "0.4.1", + "tapable": "1.1.1" } }, "errno": { @@ -1658,7 +1657,7 @@ "integrity": "sha512-MfrRBDWzIWifgq6tJj60gkAwtLNb6sQPlcFrSOflcP1aFmmruKQ2wRnze/8V6kgyz7H3FF8Npzv78mZ7XLLflg==", "dev": true, "requires": { - "prr": "~1.0.1" + "prr": "1.0.1" } }, "error-symbol": { @@ -1673,17 +1672,17 @@ "integrity": "sha512-BR9auzDbySxOcfog0tLECW8l28eRGpDpU3Dm3Hp4q/N+VtLTmyj4EUN088XZWQDW/hzj6sYRDXeOFsaAODKvpg==", "dev": true, "requires": { - "es-to-primitive": "^1.2.1", - "function-bind": "^1.1.1", - "has": "^1.0.3", - "has-symbols": "^1.0.1", - "is-callable": "^1.1.5", - "is-regex": "^1.0.5", - "object-inspect": "^1.7.0", - "object-keys": "^1.1.1", - "object.assign": "^4.1.0", - "string.prototype.trimleft": "^2.1.1", - "string.prototype.trimright": "^2.1.1" + "es-to-primitive": "1.2.1", + "function-bind": "1.1.1", + "has": "1.0.3", + "has-symbols": "1.0.1", + "is-callable": "1.1.5", + "is-regex": "1.0.5", + "object-inspect": "1.7.0", + "object-keys": "1.1.1", + "object.assign": "4.1.0", + "string.prototype.trimleft": "2.1.2", + "string.prototype.trimright": "2.1.2" } }, "es-to-primitive": { @@ -1692,9 +1691,9 @@ "integrity": "sha512-QCOllgZJtaUo9miYBcLChTUaHNjJF3PYs1VidD7AwiEj1kYxKeQTctLAezAOH5ZKRH0g2IgPn6KwB4IT8iRpvA==", "dev": true, "requires": { - "is-callable": "^1.1.4", - "is-date-object": "^1.0.1", - "is-symbol": "^1.0.2" + "is-callable": "1.1.5", + "is-date-object": "1.0.2", + "is-symbol": "1.0.3" } }, "escape-string-regexp": { @@ -1709,8 +1708,8 @@ "integrity": "sha512-1G6UTDi7Jc1ELFwnR58HV4fK9OQK4S6N985f166xqXxpjU6plxFISJa2Ba9KCQuFa8RCnj/lSFJbHo7UFDBnUA==", "dev": true, "requires": { - "esrecurse": "^4.1.0", - "estraverse": "^4.1.1" + "esrecurse": "4.2.1", + "estraverse": "4.2.0" } }, "esprima": { @@ -1724,7 +1723,7 @@ "integrity": "sha512-64RBB++fIOAXPw3P9cy89qfMlvZEXZkqqJkjqqXIvzP5ezRZjW+lPWjw35UX/3EhUPFYbg5ER4JYgDw4007/DQ==", "dev": true, "requires": { - "estraverse": "^4.1.0" + "estraverse": "4.2.0" } }, "estraverse": { @@ -1745,8 +1744,8 @@ "integrity": "sha512-/f2Go4TognH/KvCISP7OUsHn85hT9nUkxxA9BEWxFn+Oj9o8ZNLm/40hdlgSLyuOimsrTKLUMEorQexp/aPQeA==", "dev": true, "requires": { - "md5.js": "^1.3.4", - "safe-buffer": "^5.1.1" + "md5.js": "1.3.5", + "safe-buffer": "5.1.2" } }, "execa": { @@ -1755,13 +1754,13 @@ "integrity": "sha512-7XOMnz8Ynx1gGo/3hyV9loYNPWM94jG3+3T3Y8tsfSstFmETmENCMU/A/zj8Lyaj1lkgEepKepvd6240tBRvlw==", "dev": true, "requires": { - "cross-spawn": "^6.0.0", - "get-stream": "^3.0.0", - "is-stream": "^1.1.0", - "npm-run-path": "^2.0.0", - "p-finally": "^1.0.0", - "signal-exit": "^3.0.0", - "strip-eof": "^1.0.0" + "cross-spawn": "6.0.5", + "get-stream": "3.0.0", + "is-stream": "1.1.0", + "npm-run-path": "2.0.2", + "p-finally": "1.0.0", + "signal-exit": "3.0.2", + "strip-eof": "1.0.0" } }, "expand-brackets": { @@ -1770,13 +1769,13 @@ "integrity": "sha1-t3c14xXOMPa27/D4OwQVGiJEliI=", "dev": true, "requires": { - "debug": "^2.3.3", - "define-property": "^0.2.5", - "extend-shallow": "^2.0.1", - "posix-character-classes": "^0.1.0", - "regex-not": "^1.0.0", - "snapdragon": "^0.8.1", - "to-regex": "^3.0.1" + "debug": "2.6.9", + "define-property": "0.2.5", + "extend-shallow": "2.0.1", + "posix-character-classes": "0.1.1", + "regex-not": "1.0.2", + "snapdragon": "0.8.2", + "to-regex": "3.0.2" }, "dependencies": { "debug": { @@ -1794,7 +1793,7 @@ "integrity": "sha1-w1se+RjsPJkPmlvFe+BKrOxcgRY=", "dev": true, "requires": { - "is-descriptor": "^0.1.0" + "is-descriptor": "0.1.6" } }, "is-accessor-descriptor": { @@ -1803,7 +1802,7 @@ "integrity": "sha1-qeEss66Nh2cn7u84Q/igiXtcmNY=", "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" }, "dependencies": { "kind-of": { @@ -1812,7 +1811,7 @@ "integrity": "sha1-MeohpzS6ubuw8yRm2JOupR5KPGQ=", "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } } } @@ -1823,7 +1822,7 @@ "integrity": "sha1-C17mSDiOLIYCgueT8YVv7D8wG1Y=", "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" }, "dependencies": { "kind-of": { @@ -1832,7 +1831,7 @@ "integrity": "sha1-MeohpzS6ubuw8yRm2JOupR5KPGQ=", "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } } } @@ -1843,9 +1842,9 @@ "integrity": "sha1-Nm2CQN3kh8pRgjsaufB6EKeCUco=", "dev": true, "requires": { - "is-accessor-descriptor": "^0.1.6", - "is-data-descriptor": "^0.1.4", - "kind-of": "^5.0.0" + "is-accessor-descriptor": "0.1.6", + "is-data-descriptor": "0.1.4", + "kind-of": "5.1.0" } }, "kind-of": { @@ -1880,7 +1879,7 @@ "integrity": "sha1-Ua99YUrZqfYQ6huvu5idaxxWiQ8=", "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } }, "extglob": { @@ -1889,14 +1888,14 @@ "integrity": "sha512-Nmb6QXkELsuBr24CJSkilo6UHHgbekK5UiZgfE6UHD3Eb27YC6oD+bhcT+tJ6cl8dmsgdQxnWlcry8ksBIBLpw==", "dev": true, "requires": { - "array-unique": "^0.3.2", - "define-property": "^1.0.0", - "expand-brackets": "^2.1.4", - "extend-shallow": "^2.0.1", - "fragment-cache": "^0.2.1", - "regex-not": "^1.0.0", - "snapdragon": "^0.8.1", - "to-regex": "^3.0.1" + "array-unique": "0.3.2", + "define-property": "1.0.0", + "expand-brackets": "2.1.4", + "extend-shallow": "2.0.1", + "fragment-cache": "0.2.1", + "regex-not": "1.0.2", + "snapdragon": "0.8.2", + "to-regex": "3.0.2" } }, "extsprintf": { @@ -1929,10 +1928,10 @@ "integrity": "sha1-1USBHUKPmOsGpj3EAtJAPDKMOPc=", "dev": true, "requires": { - "extend-shallow": "^2.0.1", - "is-number": "^3.0.0", - "repeat-string": "^1.6.1", - "to-regex-range": "^2.1.0" + "extend-shallow": "2.0.1", + "is-number": "3.0.0", + "repeat-string": "1.6.1", + "to-regex-range": "2.1.1" } }, "find-cache-dir": { @@ -1941,9 +1940,9 @@ "integrity": "sha512-Tq6PixE0w/VMFfCgbONnkiQIVol/JJL7nRMi20fqzA4NRs9AfeqMGeRdPi3wIhYkxjeBaWh2rxwapn5Tu3IqOQ==", "dev": true, "requires": { - "commondir": "^1.0.1", - "make-dir": "^2.0.0", - "pkg-dir": "^3.0.0" + "commondir": "1.0.1", + "make-dir": "2.1.0", + "pkg-dir": "3.0.0" } }, "find-up": { @@ -1952,7 +1951,7 @@ "integrity": "sha512-1yD6RmLI1XBfxugvORwlck6f75tYL+iR0jqwsOrOxMZyGYqUuDhJ0l4AXdO1iX/FTs9cBAMEk1gWSEx1kSbylg==", "dev": true, "requires": { - "locate-path": "^3.0.0" + "locate-path": "3.0.0" } }, "flat": { @@ -1961,7 +1960,7 @@ "integrity": "sha512-Px/TiLIznH7gEDlPXcUD4KnBusa6kR6ayRUVcnEAbreRIuhkqow/mun59BuRXwoYk7ZQOLW1ZM05ilIvK38hFw==", "dev": true, "requires": { - "is-buffer": "~2.0.3" + "is-buffer": "2.0.4" }, "dependencies": { "is-buffer": { @@ -1978,8 +1977,8 @@ "integrity": "sha512-3Z4XhFZ3992uIq0XOqb9AreonueSYphE6oYbpt5+3u06JWklbsPkNv3ZKkP9Bz/r+1MWCaMoSQ28P85+1Yc77w==", "dev": true, "requires": { - "inherits": "^2.0.3", - "readable-stream": "^2.3.6" + "inherits": "2.0.3", + "readable-stream": "2.3.6" } }, "for-in": { @@ -1994,7 +1993,7 @@ "integrity": "sha1-xjMy9BXO3EsE2/5wz4NklMU8tEs=", "dev": true, "requires": { - "for-in": "^1.0.1" + "for-in": "1.0.2" } }, "forever-agent": { @@ -2009,9 +2008,9 @@ "integrity": "sha512-1lLKB2Mu3aGP1Q/2eCOx0fNbRMe7XdwktwOruhfqqd0rIJWwN4Dh+E3hrPSlDCXnSR7UtZ1N38rVXm+6+MEhJQ==", "dev": true, "requires": { - "asynckit": "^0.4.0", - "combined-stream": "^1.0.6", - "mime-types": "^2.1.12" + "asynckit": "0.4.0", + "combined-stream": "1.0.7", + "mime-types": "2.1.21" } }, "fragment-cache": { @@ -2020,7 +2019,7 @@ "integrity": "sha1-QpD60n8T6Jvn8zeZxrxaCr//DRk=", "dev": true, "requires": { - "map-cache": "^0.2.2" + "map-cache": "0.2.2" } }, "from2": { @@ -2029,8 +2028,8 @@ "integrity": "sha1-i/tVAr3kpNNs/e6gB/zKIdfjgq8=", "dev": true, "requires": { - "inherits": "^2.0.1", - "readable-stream": "^2.0.0" + "inherits": "2.0.3", + "readable-stream": "2.3.6" } }, "fs-constants": { @@ -2045,10 +2044,10 @@ "integrity": "sha1-tH31NJPvkR33VzHnCp3tAYnbQMk=", "dev": true, "requires": { - "graceful-fs": "^4.1.2", - "iferr": "^0.1.5", - "imurmurhash": "^0.1.4", - "readable-stream": "1 || 2" + "graceful-fs": "4.1.11", + "iferr": "0.1.5", + "imurmurhash": "0.1.4", + "readable-stream": "2.3.6" } }, "fs.realpath": { @@ -2064,9 +2063,9 @@ "dev": true, "optional": true, "requires": { - "bindings": "^1.5.0", - "nan": "^2.12.1", - "node-pre-gyp": "*" + "bindings": "1.5.0", + "nan": "2.14.0", + "node-pre-gyp": "0.14.0" }, "dependencies": { "abbrev": { @@ -2078,8 +2077,7 @@ "ansi-regex": { "version": "2.1.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "aproba": { "version": "1.2.0", @@ -2093,15 +2091,14 @@ "dev": true, "optional": true, "requires": { - "delegates": "^1.0.0", - "readable-stream": "^2.0.6" + "delegates": "1.0.0", + "readable-stream": "2.3.7" } }, "balanced-match": { "version": "1.0.0", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "bindings": { "version": "1.5.0", @@ -2114,9 +2111,8 @@ "version": "1.1.11", "bundled": true, "dev": true, - "optional": true, "requires": { - "balanced-match": "^1.0.0", + "balanced-match": "1.0.0", "concat-map": "0.0.1" } }, @@ -2129,20 +2125,17 @@ "code-point-at": { "version": "1.1.0", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "concat-map": { "version": "0.0.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "console-control-strings": { "version": "1.1.0", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "core-util-is": { "version": "1.0.2", @@ -2156,7 +2149,7 @@ "dev": true, "optional": true, "requires": { - "ms": "^2.1.1" + "ms": "2.1.2" } }, "deep-extend": { @@ -2183,7 +2176,7 @@ "dev": true, "optional": true, "requires": { - "minipass": "^2.6.0" + "minipass": "2.9.0" } }, "fs.realpath": { @@ -2198,14 +2191,14 @@ "dev": true, "optional": true, "requires": { - "aproba": "^1.0.3", - "console-control-strings": "^1.0.0", - "has-unicode": "^2.0.0", - "object-assign": "^4.1.0", - "signal-exit": "^3.0.0", - "string-width": "^1.0.1", - "strip-ansi": "^3.0.1", - "wide-align": "^1.1.0" + "aproba": "1.2.0", + "console-control-strings": "1.1.0", + "has-unicode": "2.0.1", + "object-assign": "4.1.1", + "signal-exit": "3.0.2", + "string-width": "1.0.2", + "strip-ansi": "3.0.1", + "wide-align": "1.1.3" } }, "glob": { @@ -2214,12 +2207,12 @@ "dev": true, "optional": true, "requires": { - "fs.realpath": "^1.0.0", - "inflight": "^1.0.4", - "inherits": "2", - "minimatch": "^3.0.4", - "once": "^1.3.0", - "path-is-absolute": "^1.0.0" + "fs.realpath": "1.0.0", + "inflight": "1.0.6", + "inherits": "2.0.4", + "minimatch": "3.0.4", + "once": "1.4.0", + "path-is-absolute": "1.0.1" } }, "has-unicode": { @@ -2234,7 +2227,7 @@ "dev": true, "optional": true, "requires": { - "safer-buffer": ">= 2.1.2 < 3" + "safer-buffer": "2.1.2" } }, "ignore-walk": { @@ -2243,7 +2236,7 @@ "dev": true, "optional": true, "requires": { - "minimatch": "^3.0.4" + "minimatch": "3.0.4" } }, "inflight": { @@ -2252,15 +2245,14 @@ "dev": true, "optional": true, "requires": { - "once": "^1.3.0", - "wrappy": "1" + "once": "1.4.0", + "wrappy": "1.0.2" } }, "inherits": { "version": "2.0.4", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "ini": { "version": "1.3.5", @@ -2272,9 +2264,8 @@ "version": "1.0.0", "bundled": true, "dev": true, - "optional": true, "requires": { - "number-is-nan": "^1.0.0" + "number-is-nan": "1.0.1" } }, "isarray": { @@ -2287,25 +2278,22 @@ "version": "3.0.4", "bundled": true, "dev": true, - "optional": true, "requires": { - "brace-expansion": "^1.1.7" + "brace-expansion": "1.1.11" } }, "minimist": { "version": "1.2.5", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "minipass": { "version": "2.9.0", "bundled": true, "dev": true, - "optional": true, "requires": { - "safe-buffer": "^5.1.2", - "yallist": "^3.0.0" + "safe-buffer": "5.1.2", + "yallist": "3.1.1" } }, "minizlib": { @@ -2314,16 +2302,15 @@ "dev": true, "optional": true, "requires": { - "minipass": "^2.9.0" + "minipass": "2.9.0" } }, "mkdirp": { "version": "0.5.3", "bundled": true, "dev": true, - "optional": true, "requires": { - "minimist": "^1.2.5" + "minimist": "1.2.5" } }, "ms": { @@ -2345,9 +2332,9 @@ "dev": true, "optional": true, "requires": { - "debug": "^3.2.6", - "iconv-lite": "^0.4.4", - "sax": "^1.2.4" + "debug": "3.2.6", + "iconv-lite": "0.4.24", + "sax": "1.2.4" } }, "node-pre-gyp": { @@ -2356,16 +2343,16 @@ "dev": true, "optional": true, "requires": { - "detect-libc": "^1.0.2", - "mkdirp": "^0.5.1", - "needle": "^2.2.1", - "nopt": "^4.0.1", - "npm-packlist": "^1.1.6", - "npmlog": "^4.0.2", - "rc": "^1.2.7", - "rimraf": "^2.6.1", - "semver": "^5.3.0", - "tar": "^4.4.2" + "detect-libc": "1.0.3", + "mkdirp": "0.5.3", + "needle": "2.3.3", + "nopt": "4.0.3", + "npm-packlist": "1.4.8", + "npmlog": "4.1.2", + "rc": "1.2.8", + "rimraf": "2.7.1", + "semver": "5.7.1", + "tar": "4.4.13" } }, "nopt": { @@ -2374,8 +2361,8 @@ "dev": true, "optional": true, "requires": { - "abbrev": "1", - "osenv": "^0.1.4" + "abbrev": "1.1.1", + "osenv": "0.1.5" } }, "npm-bundled": { @@ -2384,14 +2371,13 @@ "dev": true, "optional": true, "requires": { - "npm-normalize-package-bin": "^1.0.1" + "npm-normalize-package-bin": "1.0.1" } }, "npm-normalize-package-bin": { "version": "1.0.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "npm-packlist": { "version": "1.4.8", @@ -2399,9 +2385,9 @@ "dev": true, "optional": true, "requires": { - "ignore-walk": "^3.0.1", - "npm-bundled": "^1.0.1", - "npm-normalize-package-bin": "^1.0.1" + "ignore-walk": "3.0.3", + "npm-bundled": "1.1.1", + "npm-normalize-package-bin": "1.0.1" } }, "npmlog": { @@ -2410,17 +2396,16 @@ "dev": true, "optional": true, "requires": { - "are-we-there-yet": "~1.1.2", - "console-control-strings": "~1.1.0", - "gauge": "~2.7.3", - "set-blocking": "~2.0.0" + "are-we-there-yet": "1.1.5", + "console-control-strings": "1.1.0", + "gauge": "2.7.4", + "set-blocking": "2.0.0" } }, "number-is-nan": { "version": "1.0.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "object-assign": { "version": "4.1.1", @@ -2432,9 +2417,8 @@ "version": "1.4.0", "bundled": true, "dev": true, - "optional": true, "requires": { - "wrappy": "1" + "wrappy": "1.0.2" } }, "os-homedir": { @@ -2455,8 +2439,8 @@ "dev": true, "optional": true, "requires": { - "os-homedir": "^1.0.0", - "os-tmpdir": "^1.0.0" + "os-homedir": "1.0.2", + "os-tmpdir": "1.0.2" } }, "path-is-absolute": { @@ -2477,10 +2461,10 @@ "dev": true, "optional": true, "requires": { - "deep-extend": "^0.6.0", - "ini": "~1.3.0", - "minimist": "^1.2.0", - "strip-json-comments": "~2.0.1" + "deep-extend": "0.6.0", + "ini": "1.3.5", + "minimist": "1.2.5", + "strip-json-comments": "2.0.1" } }, "readable-stream": { @@ -2489,13 +2473,13 @@ "dev": true, "optional": true, "requires": { - "core-util-is": "~1.0.0", - "inherits": "~2.0.3", - "isarray": "~1.0.0", - "process-nextick-args": "~2.0.0", - "safe-buffer": "~5.1.1", - "string_decoder": "~1.1.1", - "util-deprecate": "~1.0.1" + "core-util-is": "1.0.2", + "inherits": "2.0.4", + "isarray": "1.0.0", + "process-nextick-args": "2.0.1", + "safe-buffer": "5.1.2", + "string_decoder": "1.1.1", + "util-deprecate": "1.0.2" } }, "rimraf": { @@ -2504,14 +2488,13 @@ "dev": true, "optional": true, "requires": { - "glob": "^7.1.3" + "glob": "7.1.6" } }, "safe-buffer": { "version": "5.1.2", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "safer-buffer": { "version": "2.1.2", @@ -2547,11 +2530,10 @@ "version": "1.0.2", "bundled": true, "dev": true, - "optional": true, "requires": { - "code-point-at": "^1.0.0", - "is-fullwidth-code-point": "^1.0.0", - "strip-ansi": "^3.0.0" + "code-point-at": "1.1.0", + "is-fullwidth-code-point": "1.0.0", + "strip-ansi": "3.0.1" } }, "string_decoder": { @@ -2560,16 +2542,15 @@ "dev": true, "optional": true, "requires": { - "safe-buffer": "~5.1.0" + "safe-buffer": "5.1.2" } }, "strip-ansi": { "version": "3.0.1", "bundled": true, "dev": true, - "optional": true, "requires": { - "ansi-regex": "^2.0.0" + "ansi-regex": "2.1.1" } }, "strip-json-comments": { @@ -2584,13 +2565,13 @@ "dev": true, "optional": true, "requires": { - "chownr": "^1.1.1", - "fs-minipass": "^1.2.5", - "minipass": "^2.8.6", - "minizlib": "^1.2.1", - "mkdirp": "^0.5.0", - "safe-buffer": "^5.1.2", - "yallist": "^3.0.3" + "chownr": "1.1.4", + "fs-minipass": "1.2.7", + "minipass": "2.9.0", + "minizlib": "1.3.3", + "mkdirp": "0.5.3", + "safe-buffer": "5.1.2", + "yallist": "3.1.1" } }, "util-deprecate": { @@ -2605,20 +2586,18 @@ "dev": true, "optional": true, "requires": { - "string-width": "^1.0.2 || 2" + "string-width": "1.0.2" } }, "wrappy": { "version": "1.0.2", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "yallist": { "version": "3.1.1", "bundled": true, - "dev": true, - "optional": true + "dev": true } } }, @@ -2634,14 +2613,14 @@ "integrity": "sha1-LANAXHU4w51+s3sxcCLjJfsBi/c=", "dev": true, "requires": { - "aproba": "^1.0.3", - "console-control-strings": "^1.0.0", - "has-unicode": "^2.0.0", - "object-assign": "^4.1.0", - "signal-exit": "^3.0.0", - "string-width": "^1.0.1", - "strip-ansi": "^3.0.1", - "wide-align": "^1.1.0" + "aproba": "1.2.0", + "console-control-strings": "1.1.0", + "has-unicode": "2.0.1", + "object-assign": "4.1.1", + "signal-exit": "3.0.2", + "string-width": "1.0.2", + "strip-ansi": "3.0.1", + "wide-align": "1.1.2" } }, "get-caller-file": { @@ -2668,7 +2647,7 @@ "integrity": "sha1-Xv+OPmhNVprkyysSgmBOi6YhSfo=", "dev": true, "requires": { - "assert-plus": "^1.0.0" + "assert-plus": "1.0.0" } }, "github-from-package": { @@ -2683,12 +2662,12 @@ "integrity": "sha512-vcfuiIxogLV4DlGBHIUOwI0IbrJ8HWPc4MU7HzviGeNho/UJDfi6B5p3sHeWIQ0KGIU0Jpxi5ZHxemQfLkkAwQ==", "dev": true, "requires": { - "fs.realpath": "^1.0.0", - "inflight": "^1.0.4", - "inherits": "2", - "minimatch": "^3.0.4", - "once": "^1.3.0", - "path-is-absolute": "^1.0.0" + "fs.realpath": "1.0.0", + "inflight": "1.0.6", + "inherits": "2.0.3", + "minimatch": "3.0.4", + "once": "1.4.0", + "path-is-absolute": "1.0.1" } }, "glob-parent": { @@ -2697,8 +2676,8 @@ "integrity": "sha1-nmr2KZ2NO9K9QEMIMr0RPfkGxa4=", "dev": true, "requires": { - "is-glob": "^3.1.0", - "path-dirname": "^1.0.0" + "is-glob": "3.1.0", + "path-dirname": "1.0.2" }, "dependencies": { "is-glob": { @@ -2707,7 +2686,7 @@ "integrity": "sha1-e6WuJCF4BKxwcHuWkiVnSGzD6Eo=", "dev": true, "requires": { - "is-extglob": "^2.1.0" + "is-extglob": "2.1.1" } } } @@ -2742,8 +2721,8 @@ "integrity": "sha512-sNvOCzEQNr/qrvJgc3UG/kD4QtlHycrzwS+6mfTrrSq97BvaYcPZZI1ZSqGSPR73Cxn4LKTD4PttRwfU7jWq5g==", "dev": true, "requires": { - "ajv": "^6.5.5", - "har-schema": "^2.0.0" + "ajv": "6.6.1", + "har-schema": "2.0.0" } }, "has": { @@ -2752,7 +2731,7 @@ "integrity": "sha512-f2dvO0VU6Oej7RkWJGrehjbzMAjFp5/VKPp5tTpWIV4JHHZK1/BxbFRtf/siA2SWTe09caDmVtYYzWEIbBS4zw==", "dev": true, "requires": { - "function-bind": "^1.1.1" + "function-bind": "1.1.1" } }, "has-flag": { @@ -2779,9 +2758,9 @@ "integrity": "sha1-GLKB2lhbHFxR3vJMkw7SmgvmsXc=", "dev": true, "requires": { - "get-value": "^2.0.6", - "has-values": "^1.0.0", - "isobject": "^3.0.0" + "get-value": "2.0.6", + "has-values": "1.0.0", + "isobject": "3.0.1" } }, "has-values": { @@ -2790,8 +2769,8 @@ "integrity": "sha1-lbC2P+whRmGab+V/51Yo1aOe/k8=", "dev": true, "requires": { - "is-number": "^3.0.0", - "kind-of": "^4.0.0" + "is-number": "3.0.0", + "kind-of": "4.0.0" }, "dependencies": { "kind-of": { @@ -2800,7 +2779,7 @@ "integrity": "sha1-IIE989cSkosgc3hpGkUGb65y3Vc=", "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } } } @@ -2811,8 +2790,8 @@ "integrity": "sha1-X8hoaEfs1zSZQDMZprCj8/auSRg=", "dev": true, "requires": { - "inherits": "^2.0.1", - "safe-buffer": "^5.0.1" + "inherits": "2.0.3", + "safe-buffer": "5.1.2" } }, "hash.js": { @@ -2821,8 +2800,8 @@ "integrity": "sha512-eWI5HG9Np+eHV1KQhisXWwM+4EPPYe5dFX1UZZH7k/E3JzDEazVH+VGlZi6R94ZqImq+A3D1mCEtrFIfg/E7sA==", "dev": true, "requires": { - "inherits": "^2.0.3", - "minimalistic-assert": "^1.0.1" + "inherits": "2.0.3", + "minimalistic-assert": "1.0.1" } }, "he": { @@ -2837,9 +2816,9 @@ "integrity": "sha1-0nRXAQJabHdabFRXk+1QL8DGSaE=", "dev": true, "requires": { - "hash.js": "^1.0.3", - "minimalistic-assert": "^1.0.0", - "minimalistic-crypto-utils": "^1.0.1" + "hash.js": "1.1.5", + "minimalistic-assert": "1.0.1", + "minimalistic-crypto-utils": "1.0.1" } }, "http-signature": { @@ -2848,9 +2827,9 @@ "integrity": "sha1-muzZJRFHcvPZW2WmCruPfBj7rOE=", "dev": true, "requires": { - "assert-plus": "^1.0.0", - "jsprim": "^1.2.2", - "sshpk": "^1.7.0" + "assert-plus": "1.0.0", + "jsprim": "1.4.1", + "sshpk": "1.15.2" } }, "https-browserify": { @@ -2877,8 +2856,8 @@ "integrity": "sha512-b6s04m3O+s3CGSbqDIyP4R6aAwAeYlVq9+WUWep6iHa8ETRf9yei1U48C5MmfJmV9AiLYYBKPMq/W+/WRpQmCQ==", "dev": true, "requires": { - "pkg-dir": "^3.0.0", - "resolve-cwd": "^2.0.0" + "pkg-dir": "3.0.0", + "resolve-cwd": "2.0.0" } }, "imurmurhash": { @@ -2905,8 +2884,8 @@ "integrity": "sha1-Sb1jMdfQLQwJvJEKEHW6gWW1bfk=", "dev": true, "requires": { - "once": "^1.3.0", - "wrappy": "1" + "once": "1.4.0", + "wrappy": "1.0.2" } }, "info-symbol": { @@ -2945,7 +2924,7 @@ "integrity": "sha1-FpwvbT3x+ZJhgHI2XJsOofaHhlY=", "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.3" }, "dependencies": { "kind-of": { @@ -2962,7 +2941,7 @@ "integrity": "sha1-dfFmQrSA8YenEcgUFh/TpKdlWJg=", "dev": true, "requires": { - "binary-extensions": "^1.0.0" + "binary-extensions": "1.13.1" } }, "is-buffer": { @@ -2983,7 +2962,7 @@ "integrity": "sha1-2Eh2Mh0Oet0DmQQGq7u9NrqSaMc=", "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.3" }, "dependencies": { "kind-of": { @@ -3006,9 +2985,9 @@ "integrity": "sha1-OxWXRqZmBLBPjIFSS6NlxfFNhuw=", "dev": true, "requires": { - "is-accessor-descriptor": "^1.0.0", - "is-data-descriptor": "^1.0.0", - "kind-of": "^6.0.2" + "is-accessor-descriptor": "1.0.0", + "is-data-descriptor": "1.0.0", + "kind-of": "6.0.3" }, "dependencies": { "kind-of": { @@ -3037,7 +3016,7 @@ "integrity": "sha1-754xOG8DGn8NZDr4L95QxFfvAMs=", "dev": true, "requires": { - "number-is-nan": "^1.0.0" + "number-is-nan": "1.0.1" } }, "is-glob": { @@ -3046,7 +3025,7 @@ "integrity": "sha512-5G0tKtBTFImOqDnLB2hG6Bp2qcKEFduo4tZu9MT/H6NQv/ghhy30o55ufafxJ/LdH79LLs2Kfrn85TLKyA7BUg==", "dev": true, "requires": { - "is-extglob": "^2.1.1" + "is-extglob": "2.1.1" } }, "is-number": { @@ -3055,7 +3034,7 @@ "integrity": "sha1-JP1iAaR4LPUFYcgQJ2r8fRLXEZU=", "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" } }, "is-odd": { @@ -3064,7 +3043,7 @@ "integrity": "sha512-OTiixgpZAT1M4NHgS5IguFp/Vz2VI3U7Goh4/HA1adtwyLtSBrxYlcSYkhpAE07s4fKEcjrFxyvtQBND4vFQyQ==", "dev": true, "requires": { - "is-number": "^4.0.0" + "is-number": "4.0.0" }, "dependencies": { "is-number": { @@ -3081,7 +3060,7 @@ "integrity": "sha512-h5PpgXkWitc38BBMYawTYMWJHFZJVnBquFE57xFpjB8pJFiF6gZ+bU+WyI/yqXiFR5mdLsgYNaPe8uao6Uv9Og==", "dev": true, "requires": { - 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"url": "^0.11.0", - "util": "^0.10.3", + "url": "0.11.0", + "util": "0.10.4", "vm-browserify": "0.0.4" } }, @@ -4090,7 +4069,7 @@ "integrity": "sha1-NakjLfo11wZ7TLLd8jV7GHFTbF8=", "dev": true, "requires": { - "path-key": "^2.0.0" + "path-key": "2.0.1" } }, "npmlog": { @@ -4099,10 +4078,10 @@ "integrity": "sha512-2uUqazuKlTaSI/dC8AzicUck7+IrEaOnN/e0jd3Xtt1KcGpwx30v50mL7oPyr/h9bL3E4aZccVwpwP+5W9Vjkg==", "dev": true, "requires": { - "are-we-there-yet": "~1.1.2", - "console-control-strings": "~1.1.0", - "gauge": "~2.7.3", - "set-blocking": "~2.0.0" + "are-we-there-yet": "1.1.4", + "console-control-strings": "1.1.0", + "gauge": "2.7.4", + "set-blocking": "2.0.0" } }, "number-is-nan": { @@ -4129,9 +4108,9 @@ "integrity": "sha1-fn2Fi3gb18mRpBupde04EnVOmYw=", "dev": true, "requires": { - "copy-descriptor": "^0.1.0", - "define-property": "^0.2.5", - "kind-of": "^3.0.3" + "copy-descriptor": "0.1.1", + "define-property": "0.2.5", + "kind-of": "3.2.2" }, "dependencies": { "define-property": { @@ -4140,7 +4119,7 @@ "integrity": "sha1-w1se+RjsPJkPmlvFe+BKrOxcgRY=", "dev": true, "requires": { - 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"strip-color": "^0.1.0", - "window-size": "^1.1.0" + "strip-color": "0.1.0", + "window-size": "1.1.0" } }, "regex-not": { @@ -5004,8 +4983,8 @@ "integrity": "sha512-J6SDjUgDxQj5NusnOtdFxDwN/+HWykR8GELwctJ7mdqhcyy1xEc4SRFHUXvxTp661YaVKAjfRLZ9cCqS6tn32A==", "dev": true, "requires": { - "extend-shallow": "^3.0.2", - "safe-regex": "^1.1.0" + "extend-shallow": "3.0.2", + "safe-regex": "1.1.0" }, "dependencies": { "extend-shallow": { @@ -5014,8 +4993,8 @@ "integrity": "sha1-Jqcarwc7OfshJxcnRhMcJwQCjbg=", "dev": true, "requires": { - "assign-symbols": "^1.0.0", - "is-extendable": "^1.0.1" + "assign-symbols": "1.0.0", + "is-extendable": "1.0.1" } }, "is-extendable": { @@ -5024,7 +5003,7 @@ "integrity": "sha1-p0cPnkJnM9gb2B4RVSZOOjUHyrQ=", "dev": true, "requires": { - "is-plain-object": "^2.0.4" + "is-plain-object": "2.0.4" } } } @@ -5053,26 +5032,26 @@ "integrity": "sha512-NAqBSrijGLZdM0WZNsInLJpkJokL72XYjUpnB0iwsRgxh7dB6COrHnTBNwN0E+lHDAJzu7kLAkDeY08z2/A0hg==", "dev": true, "requires": { - "aws-sign2": "~0.7.0", - 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"resolve-from": "^3.0.0" + "resolve-from": "3.0.0" } }, "resolve-from": { @@ -5120,7 +5099,7 @@ "integrity": "sha512-uWjbaKIK3T1OSVptzX7Nl6PvQ3qAGtKEtVRjRuazjfL3Bx5eI409VZSqgND+4UNnmzLVdPj9FqFJNPqBZFve4w==", "dev": true, "requires": { - "glob": "^7.1.3" + "glob": "7.1.6" }, "dependencies": { "glob": { @@ -5129,12 +5108,12 @@ "integrity": "sha512-LwaxwyZ72Lk7vZINtNNrywX0ZuLyStrdDtabefZKAY5ZGJhVtgdznluResxNmPitE0SAO+O26sWTHeKSI2wMBA==", "dev": true, "requires": { - "fs.realpath": "^1.0.0", - "inflight": "^1.0.4", - "inherits": "2", - "minimatch": "^3.0.4", - "once": "^1.3.0", - "path-is-absolute": "^1.0.0" + "fs.realpath": "1.0.0", + "inflight": "1.0.6", + "inherits": "2.0.3", + "minimatch": "3.0.4", + "once": "1.4.0", + "path-is-absolute": "1.0.1" } } } @@ -5145,8 +5124,8 @@ "integrity": "sha512-ii4iagi25WusVoiC4B4lq7pbXfAp3D9v5CwfkY33vffw2+pkDjY1D8GaN7spsxvCSx8dkPqOZCEZyfxcmJG2IA==", "dev": true, "requires": { - "hash-base": "^3.0.0", - "inherits": "^2.0.1" + "hash-base": "3.0.4", + "inherits": "2.0.3" } }, "run-queue": { @@ -5155,7 +5134,7 @@ "integrity": "sha1-6Eg5bwV9Ij8kOGkkYY4laUFh7Ec=", "dev": true, "requires": { - 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"safe-buffer": "~5.1.0" + "safe-buffer": "5.1.2" } }, "strip-ansi": { @@ -5745,7 +5724,7 @@ "integrity": "sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=", "dev": true, "requires": { - "ansi-regex": "^2.0.0" + "ansi-regex": "2.1.1" } }, "strip-color": { @@ -5778,7 +5757,7 @@ "integrity": "sha512-zjaXglF5nnWpsq470jSv6P9DwPvgLkuapYmfDm3JWOm0vkNTVF2tI4UrN2r6jH1qM/uc/WtxYY1hYoA2dOKj5w==", "dev": true, "requires": { - "has-flag": "^3.0.0" + "has-flag": "3.0.0" } }, "tapable": { @@ -5793,10 +5772,10 @@ "integrity": "sha512-NvCeXpYx7OsmOh8zIOP/ebG55zZmxLE0etfWRbWok+q2Qo8x/vOR/IJT1taADXPe+jsiu9axDb3X4B+iIgNlKw==", "dev": true, "requires": { - "chownr": "^1.0.1", - "mkdirp": "^0.5.1", - "pump": "^1.0.0", - "tar-stream": "^1.1.2" + "chownr": "1.1.4", + "mkdirp": "0.5.5", + "pump": "1.0.3", + "tar-stream": "1.6.2" }, "dependencies": { "pump": { @@ -5805,8 +5784,8 @@ "integrity": "sha512-8k0JupWme55+9tCVE+FS5ULT3K6AbgqrGa58lTT49RpyfwwcGedHqaC5LlQNdEAumn/wFsu6aPwkuPMioy8kqw==", "dev": true, "requires": { - "end-of-stream": "^1.1.0", - 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"kind-of": "^3.0.2" + "kind-of": "3.2.2" } }, "to-regex": { @@ -5977,10 +5956,10 @@ "integrity": "sha512-FWtleNAtZ/Ki2qtqej2CXTOayOH9bHDQF+Q48VpWyDXjbYxA4Yz8iDB31zXOBUlOHHKidDbqGVrTUvQMPmBGBw==", "dev": true, "requires": { - "define-property": "^2.0.2", - "extend-shallow": "^3.0.2", - "regex-not": "^1.0.2", - "safe-regex": "^1.1.0" + "define-property": "2.0.2", + "extend-shallow": "3.0.2", + "regex-not": "1.0.2", + "safe-regex": "1.1.0" }, "dependencies": { "define-property": { @@ -5989,8 +5968,8 @@ "integrity": "sha1-1Flono1lS6d+AqgX+HENcCyxbp0=", "dev": true, "requires": { - "is-descriptor": "^1.0.2", - "isobject": "^3.0.1" + "is-descriptor": "1.0.2", + "isobject": "3.0.1" } }, "extend-shallow": { @@ -5999,8 +5978,8 @@ "integrity": "sha1-Jqcarwc7OfshJxcnRhMcJwQCjbg=", "dev": true, "requires": { - "assign-symbols": "^1.0.0", - "is-extendable": "^1.0.1" + "assign-symbols": "1.0.0", + "is-extendable": "1.0.1" } }, "is-extendable": { @@ -6009,7 +5988,7 @@ "integrity": "sha1-p0cPnkJnM9gb2B4RVSZOOjUHyrQ=", "dev": true, "requires": { - "is-plain-object": "^2.0.4" + "is-plain-object": "2.0.4" } } } @@ -6020,8 +5999,8 @@ "integrity": "sha1-fIDBe53+vlmeJzZ+DU3VWQFB2zg=", "dev": true, "requires": { - "is-number": "^3.0.0", - "repeat-string": "^1.6.1" + "is-number": "3.0.0", + "repeat-string": "1.6.1" } }, "toggle-array": { @@ -6030,7 +6009,7 @@ "integrity": "sha1-y/WEB5K9UJfzMReugkyTKv/ofVg=", "dev": true, "requires": { - "isobject": "^3.0.0" + "isobject": "3.0.1" } }, "tough-cookie": { @@ -6039,8 +6018,8 @@ "integrity": "sha512-Q5srk/4vDM54WJsJio3XNn6K2sCG+CQ8G5Wz6bZhRZoAe/+TxjWB/GlFAnYEbkYVlON9FMk/fE3h2RLpPXo4lQ==", "dev": true, "requires": { - "psl": "^1.1.24", - "punycode": "^1.4.1" + "psl": "1.1.29", + "punycode": "1.4.1" } }, "tslib": { @@ -6061,7 +6040,7 @@ "integrity": "sha1-J6XeoGs2sEoKmWZ3SykIaPD8QP0=", "dev": true, "requires": { - "safe-buffer": "^5.0.1" + "safe-buffer": "5.1.2" } }, "tweetnacl": { @@ -6082,10 +6061,10 @@ "integrity": "sha512-tJfXmxMeWYnczCVs7XAEvIV7ieppALdyepWMkHkwciRpZraG/xwT+s2JN8+pr1+8jCRf80FFzvr+MpQeeoF4Xg==", "dev": true, "requires": { - 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"has-flag": "^3.0.0" + "has-flag": "3.0.0" } } } @@ -6343,8 +6322,8 @@ "integrity": "sha512-OiVgSrbGu7NEnEvQJJgdSFPl2qWKkWq5lHMhgiToIiN9w34EBnjYzSYs+VbL5KoYiLNtFFa7BZIKxRED3I32pA==", "dev": true, "requires": { - "source-list-map": "^2.0.0", - "source-map": "~0.6.1" + "source-list-map": "2.0.1", + "source-map": "0.6.1" }, "dependencies": { "source-map": { @@ -6361,7 +6340,7 @@ "integrity": "sha512-HxJdYWq1MTIQbJ3nw0cqssHoTNU267KlrDuGZ1WYlxDStUtKUhOaJmh112/TZmHxxUfuJqPXSOm7tDyas0OSIQ==", "dev": true, "requires": { - "isexe": "^2.0.0" + "isexe": "2.0.0" } }, "which-module": { @@ -6382,7 +6361,7 @@ "integrity": "sha512-ijDLlyQ7s6x1JgCLur53osjm/UXUYD9+0PbYKrBsYisYXzCxN+HC3mYDNy/dWdmf3AwqwU3CXwDCvsNgGK1S0w==", "dev": true, "requires": { - "string-width": "^1.0.2" + "string-width": "1.0.2" } }, "window-size": { @@ -6391,8 +6370,8 @@ "integrity": "sha1-O0AtMkTzVWHbLJdhrZ0eUoawei0=", "dev": true, "requires": { - "define-property": "^1.0.0", - "is-number": "^3.0.0" + "define-property": "1.0.0", + "is-number": "3.0.0" } }, "worker-farm": { @@ -6401,7 +6380,7 @@ "integrity": "sha512-rvw3QTZc8lAxyVrqcSGVm5yP/IJ2UcB3U0graE3LCFoZ0Yn2x4EoVSqJKdB/T5M+FLcRPjz4TDacRf3OCfNUzw==", "dev": true, "requires": { - "errno": "~0.1.7" + "errno": "0.1.7" } }, "wrap-ansi": { @@ -6410,8 +6389,8 @@ "integrity": "sha1-2Pw9KE3QV5T+hJc8rs3Rz4JP3YU=", "dev": true, "requires": { - "string-width": "^1.0.1", - "strip-ansi": "^3.0.1" + "string-width": "1.0.2", + "strip-ansi": "3.0.1" } }, "wrappy": { @@ -6444,18 +6423,18 @@ "integrity": "sha512-Lhz8TLaYnxq/2ObqHDql8dX8CJi97oHxrjUcYtzKbbykPtVW9WB+poxI+NM2UIzsMgNCZTIf0AQwsjK5yMAqZw==", "dev": true, "requires": { - "cliui": "^4.0.0", - "decamelize": "^1.2.0", - "find-up": "^3.0.0", - "get-caller-file": "^1.0.1", - "os-locale": "^3.0.0", - "require-directory": "^2.1.1", - "require-main-filename": "^1.0.1", - "set-blocking": "^2.0.0", - "string-width": "^2.0.0", - "which-module": "^2.0.0", - "y18n": "^3.2.1 || ^4.0.0", - "yargs-parser": "^11.1.1" + "cliui": "4.1.0", + "decamelize": "1.2.0", + "find-up": "3.0.0", + "get-caller-file": "1.0.3", + "os-locale": "3.0.1", + "require-directory": "2.1.1", + "require-main-filename": "1.0.1", + "set-blocking": "2.0.0", + "string-width": "2.1.1", + "which-module": "2.0.0", + "y18n": "4.0.0", + "yargs-parser": "11.1.1" }, "dependencies": { "ansi-regex": { @@ -6476,8 +6455,8 @@ "integrity": "sha512-nOqH59deCq9SRHlxq1Aw85Jnt4w6KvLKqWVik6oA9ZklXLNIOlqg4F2yrT1MVaTjAqvVwdfeZ7w7aCvJD7ugkw==", "dev": true, "requires": { - "is-fullwidth-code-point": "^2.0.0", - "strip-ansi": "^4.0.0" + "is-fullwidth-code-point": "2.0.0", + "strip-ansi": "4.0.0" } }, "strip-ansi": { @@ -6486,7 +6465,7 @@ "integrity": "sha1-qEeQIusaw2iocTibY1JixQXuNo8=", "dev": true, "requires": { - "ansi-regex": "^3.0.0" + "ansi-regex": "3.0.0" } } } @@ -6497,8 +6476,8 @@ "integrity": "sha512-C6kB/WJDiaxONLJQnF8ccx9SEeoTTLek8RVbaOIsrAUS8VrBEXfmeSnCZxygc+XC2sNMBIwOOnfcxiynjHsVSQ==", "dev": true, "requires": { - "camelcase": "^5.0.0", - "decamelize": "^1.2.0" + "camelcase": "5.0.0", + "decamelize": "1.2.0" } }, "yargs-unparser": { @@ -6507,9 +6486,9 @@ "integrity": "sha512-W9tKgmSn0DpSatfri0nx52Joq5hVXgeLiqR/5G0sZNDoLZFOr/xjBUDcShCOGNsBnEMNo1KAMBkTej1Hm62HTw==", "dev": true, "requires": { - "flat": "^4.1.0", - "lodash": "^4.17.15", - "yargs": "^13.3.0" + "flat": "4.1.0", + "lodash": "4.17.19", + "yargs": "13.3.2" }, "dependencies": { "ansi-regex": { @@ -6524,9 +6503,9 @@ "integrity": "sha512-PYeGSEmmHM6zvoef2w8TPzlrnNpXIjTipYK780YswmIP9vjxmd6Y2a3CB2Ks6/AU8NHjZugXvo8w3oWM2qnwXA==", "dev": true, "requires": { - "string-width": "^3.1.0", - "strip-ansi": "^5.2.0", - "wrap-ansi": "^5.1.0" + "string-width": "3.1.0", + "strip-ansi": "5.2.0", + "wrap-ansi": "5.1.0" } }, "get-caller-file": { @@ -6553,9 +6532,9 @@ "integrity": "sha512-vafcv6KjVZKSgz06oM/H6GDBrAtz8vdhQakGjFIvNrHA6y3HCF1CInLy+QLq8dTJPQ1b+KDUqDFctkdRW44e1w==", "dev": true, "requires": { - "emoji-regex": "^7.0.1", - "is-fullwidth-code-point": "^2.0.0", - "strip-ansi": "^5.1.0" + "emoji-regex": "7.0.3", + "is-fullwidth-code-point": "2.0.0", + "strip-ansi": "5.2.0" } }, "strip-ansi": { @@ -6564,7 +6543,7 @@ "integrity": "sha512-DuRs1gKbBqsMKIZlrffwlug8MHkcnpjs5VPmL1PAh+mA30U0DTotfDZ0d2UUsXpPmPmMMJ6W773MaA3J+lbiWA==", "dev": true, "requires": { - "ansi-regex": "^4.1.0" + "ansi-regex": "4.1.0" } }, "wrap-ansi": { @@ -6573,9 +6552,9 @@ "integrity": "sha512-QC1/iN/2/RPVJ5jYK8BGttj5z83LmSKmvbvrXPNCLZSEb32KKVDJDl/MOt2N01qU2H/FkzEa9PKto1BqDjtd7Q==", "dev": true, "requires": { - "ansi-styles": "^3.2.0", - "string-width": "^3.0.0", - "strip-ansi": "^5.0.0" + "ansi-styles": "3.2.1", + "string-width": "3.1.0", + "strip-ansi": "5.2.0" } }, "yargs": { @@ -6584,16 +6563,16 @@ "integrity": "sha512-AX3Zw5iPruN5ie6xGRIDgqkT+ZhnRlZMLMHAs8tg7nRruy2Nb+i5o9bwghAogtM08q1dpr2LVoS8KSTMYpWXUw==", "dev": true, "requires": { - "cliui": "^5.0.0", - "find-up": "^3.0.0", - "get-caller-file": "^2.0.1", - "require-directory": "^2.1.1", - "require-main-filename": "^2.0.0", - "set-blocking": "^2.0.0", - "string-width": "^3.0.0", - "which-module": "^2.0.0", - "y18n": "^4.0.0", - "yargs-parser": "^13.1.2" + "cliui": "5.0.0", + "find-up": "3.0.0", + "get-caller-file": "2.0.5", + "require-directory": "2.1.1", + "require-main-filename": "2.0.0", + "set-blocking": "2.0.0", + "string-width": "3.1.0", + "which-module": "2.0.0", + "y18n": "4.0.0", + "yargs-parser": "13.1.2" } }, "yargs-parser": { @@ -6602,8 +6581,8 @@ "integrity": "sha512-3lbsNRf/j+A4QuSZfDRA7HRSfWrzO0YjqTJd5kjAq37Zep1CEgaYmrH9Q3GwPiB9cHyd1Y1UwggGhJGoxipbzg==", "dev": true, "requires": { - "camelcase": "^5.0.0", - "decamelize": "^1.2.0" + "camelcase": "5.0.0", + "decamelize": "1.2.0" } } } diff --git a/proto/imu.proto b/proto/imu.proto index 425fbd89d0..4634a58c9b 100644 --- a/proto/imu.proto +++ b/proto/imu.proto @@ -26,6 +26,11 @@ package swiftnav.sbp.imu; * gyroscope readings. The sense of the measurements are to be aligned with * the indications on the device itself. Measurement units, which are specific to the * device hardware and settings, are communicated via the MSG_IMU_AUX message. + * If using "time since startup" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements + * with GNSS. + * + * The time-tagging mode should not change throughout a run. */ message MsgImuRaw { uint32 tow = 1; diff --git a/proto/system.proto b/proto/system.proto index 16cd0ef33e..7294e9e932 100644 --- a/proto/system.proto +++ b/proto/system.proto @@ -106,4 +106,17 @@ message MsgInsUpdates { uint32 speed = 5; uint32 nhc = 6; uint32 zerovel = 7; +} + +/** Offset of the local time with respect to GNSS time + * + * The GNSS time offset message contains the information that is needed to translate messages + * tagged with a local timestamp (e.g. IMU or wheeltick messages) to GNSS time for the sender + * producing this message. + */ +message MsgGnssTimeOffset { + sint32 weeks = 1; + sint32 milliseconds = 2; + sint32 microseconds = 3; + uint32 flags = 4; } \ No newline at end of file diff --git a/proto/vehicle.proto b/proto/vehicle.proto index 621a98acd3..d2a4f9ef05 100644 --- a/proto/vehicle.proto +++ b/proto/vehicle.proto @@ -27,6 +27,9 @@ package swiftnav.sbp.vehicle; * the definition and origin of the user frame are defined through the device settings interface. * There are 4 possible user-defined sources of this message which are labeled arbitrarily * source 0 through 3. + * If using "processor time" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise odometry measurements + * with GNSS. */ message MsgOdometry { uint32 tow = 1; @@ -43,6 +46,9 @@ message MsgOdometry { * from 0 to 255. * The timestamp associated with this message should represent the time when the accumulated * tick count reached the value given by the contents of this message as accurately as possible. + * If using "local CPU time" time tags, the receiving end will expect a + * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise wheeltick measurements + * with GNSS. */ message MsgWheeltick { uint64 time = 1; diff --git a/python/sbp/imu.py b/python/sbp/imu.py index b5b736e10f..a1f939ced9 100644 --- a/python/sbp/imu.py +++ b/python/sbp/imu.py @@ -38,6 +38,11 @@ class MsgImuRaw(SBP): gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, are communicated via the MSG_IMU_AUX message. +If using "time since startup" time tags, the receiving end will expect a +`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements +with GNSS. + +The time-tagging mode should not change throughout a run. Parameters diff --git a/python/sbp/jit/imu.py b/python/sbp/jit/imu.py index 2885da8182..a030a69093 100644 --- a/python/sbp/jit/imu.py +++ b/python/sbp/jit/imu.py @@ -40,6 +40,11 @@ class MsgImuRaw(SBP): gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, are communicated via the MSG_IMU_AUX message. +If using "time since startup" time tags, the receiving end will expect a +`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements +with GNSS. + +The time-tagging mode should not change throughout a run. """ diff --git a/python/sbp/jit/system.py b/python/sbp/jit/system.py index 4d434620eb..8f4c0c5192 100644 --- a/python/sbp/jit/system.py +++ b/python/sbp/jit/system.py @@ -309,6 +309,50 @@ def _unpack_members(self, buf, offset, length): return res, off, length +SBP_MSG_GNSS_TIME_OFFSET = 0xFF07 +class MsgGnssTimeOffset(SBP): + """SBP class for message MSG_GNSS_TIME_OFFSET (0xFF07). + + You can have MSG_GNSS_TIME_OFFSET inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + The GNSS time offset message contains the information that is needed to translate messages +tagged with a local timestamp (e.g. IMU or wheeltick messages) to GNSS time for the sender +producing this message. + + + """ + __slots__ = ['weeks', + 'milliseconds', + 'microseconds', + 'flags', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__weeks, offset, length) = get_s16(buf, offset, length) + ret['weeks'] = __weeks + (__milliseconds, offset, length) = get_s32(buf, offset, length) + ret['milliseconds'] = __milliseconds + (__microseconds, offset, length) = get_s16(buf, offset, length) + ret['microseconds'] = __microseconds + (__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.weeks = res['weeks'] + self.milliseconds = res['milliseconds'] + self.microseconds = res['microseconds'] + self.flags = res['flags'] + return res, off, length + + msg_classes = { 0xFF00: MsgStartup, @@ -318,4 +362,5 @@ def _unpack_members(self, buf, offset, length): 0xFF04: MsgCsacTelemetry, 0xFF05: MsgCsacTelemetryLabels, 0xFF06: MsgInsUpdates, + 0xFF07: MsgGnssTimeOffset, } \ No newline at end of file diff --git a/python/sbp/jit/vehicle.py b/python/sbp/jit/vehicle.py index 9a162ad58e..787e859dc4 100644 --- a/python/sbp/jit/vehicle.py +++ b/python/sbp/jit/vehicle.py @@ -41,6 +41,9 @@ class MsgOdometry(SBP): the definition and origin of the user frame are defined through the device settings interface. There are 4 possible user-defined sources of this message which are labeled arbitrarily source 0 through 3. +If using "processor time" time tags, the receiving end will expect a +`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise odometry measurements +with GNSS. """ @@ -85,6 +88,9 @@ class MsgWheeltick(SBP): from 0 to 255. The timestamp associated with this message should represent the time when the accumulated tick count reached the value given by the contents of this message as accurately as possible. +If using "local CPU time" time tags, the receiving end will expect a +`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise wheeltick measurements +with GNSS. """ diff --git a/python/sbp/system.py b/python/sbp/system.py index 7b762592f5..b75466f5ee 100644 --- a/python/sbp/system.py +++ b/python/sbp/system.py @@ -740,6 +740,113 @@ def to_json_dict(self): d.update(j) return d +SBP_MSG_GNSS_TIME_OFFSET = 0xFF07 +class MsgGnssTimeOffset(SBP): + """SBP class for message MSG_GNSS_TIME_OFFSET (0xFF07). + + You can have MSG_GNSS_TIME_OFFSET inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + The GNSS time offset message contains the information that is needed to translate messages +tagged with a local timestamp (e.g. IMU or wheeltick messages) to GNSS time for the sender +producing this message. + + + Parameters + ---------- + sbp : SBP + SBP parent object to inherit from. + weeks : int + Weeks portion of the time offset + milliseconds : int + Milliseconds portion of the time offset + microseconds : int + Microseconds portion of the time offset + flags : int + Status flags (reserved) + sender : int + Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). + + """ + _parser = construct.Struct( + 'weeks' / construct.Int16sl, + 'milliseconds' / construct.Int32sl, + 'microseconds' / construct.Int16sl, + 'flags' / construct.Int8ul,) + __slots__ = [ + 'weeks', + 'milliseconds', + 'microseconds', + 'flags', + ] + + def __init__(self, sbp=None, **kwargs): + if sbp: + super( MsgGnssTimeOffset, + self).__init__(sbp.msg_type, sbp.sender, sbp.length, + sbp.payload, sbp.crc) + self.from_binary(sbp.payload) + else: + super( MsgGnssTimeOffset, self).__init__() + self.msg_type = SBP_MSG_GNSS_TIME_OFFSET + self.sender = kwargs.pop('sender', SENDER_ID) + self.weeks = kwargs.pop('weeks') + self.milliseconds = kwargs.pop('milliseconds') + self.microseconds = kwargs.pop('microseconds') + 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 MsgGnssTimeOffset.from_json_dict(d) + + @staticmethod + def from_json_dict(d): + sbp = SBP.from_json_dict(d) + return MsgGnssTimeOffset(sbp, **d) + + + def from_binary(self, d): + """Given a binary payload d, update the appropriate payload fields of + the message. + + """ + p = MsgGnssTimeOffset._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 = MsgGnssTimeOffset._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 = MsgGnssTimeOffset._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( MsgGnssTimeOffset, self).to_json_dict() + j = walk_json_dict(exclude_fields(self)) + d.update(j) + return d + msg_classes = { 0xFF00: MsgStartup, @@ -749,4 +856,5 @@ def to_json_dict(self): 0xFF04: MsgCsacTelemetry, 0xFF05: MsgCsacTelemetryLabels, 0xFF06: MsgInsUpdates, + 0xFF07: MsgGnssTimeOffset, } \ No newline at end of file diff --git a/python/sbp/vehicle.py b/python/sbp/vehicle.py index 1d2dd75016..5604b8f642 100644 --- a/python/sbp/vehicle.py +++ b/python/sbp/vehicle.py @@ -39,6 +39,9 @@ class MsgOdometry(SBP): the definition and origin of the user frame are defined through the device settings interface. There are 4 possible user-defined sources of this message which are labeled arbitrarily source 0 through 3. +If using "processor time" time tags, the receiving end will expect a +`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise odometry measurements +with GNSS. Parameters @@ -149,6 +152,9 @@ class MsgWheeltick(SBP): from 0 to 255. The timestamp associated with this message should represent the time when the accumulated tick count reached the value given by the contents of this message as accurately as possible. +If using "local CPU time" time tags, the receiving end will expect a +`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise wheeltick measurements +with GNSS. Parameters diff --git a/python/tests/sbp/test_table.py b/python/tests/sbp/test_table.py index d2ae8bcb0a..7fc8514d24 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 = 185 + number_of_messages = 186 assert len(_SBP_TABLE) == number_of_messages def test_table_unqiue_count(): diff --git a/rust/sbp/src/messages/imu.rs b/rust/sbp/src/messages/imu.rs index fce90e13b1..910c31e372 100644 --- a/rust/sbp/src/messages/imu.rs +++ b/rust/sbp/src/messages/imu.rs @@ -95,6 +95,11 @@ impl crate::serialize::SbpSerialize for MsgImuAux { /// gyroscope readings. The sense of the measurements are to be aligned with /// the indications on the device itself. Measurement units, which are specific to the /// device hardware and settings, are communicated via the MSG_IMU_AUX message. +/// If using "time since startup" time tags, the receiving end will expect a +/// `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements +/// with GNSS. +/// +/// The time-tagging mode should not change throughout a run. /// #[cfg_attr(feature = "sbp_serde", derive(Serialize, Deserialize))] #[derive(Debug, Clone)] diff --git a/rust/sbp/src/messages/mod.rs b/rust/sbp/src/messages/mod.rs index 949bfe27fd..2a9c15fa2f 100644 --- a/rust/sbp/src/messages/mod.rs +++ b/rust/sbp/src/messages/mod.rs @@ -199,6 +199,7 @@ use self::ssr::MsgSsrStecCorrection; use self::system::MsgCsacTelemetry; use self::system::MsgCsacTelemetryLabels; use self::system::MsgDgnssStatus; +use self::system::MsgGnssTimeOffset; use self::system::MsgHeartbeat; use self::system::MsgInsStatus; use self::system::MsgInsUpdates; @@ -416,6 +417,7 @@ pub enum SBP { MsgCsacTelemetry(MsgCsacTelemetry), MsgCsacTelemetryLabels(MsgCsacTelemetryLabels), MsgInsUpdates(MsgInsUpdates), + MsgGnssTimeOffset(MsgGnssTimeOffset), MsgHeartbeat(MsgHeartbeat), Unknown(Unknown), } @@ -1343,6 +1345,11 @@ impl SBP { msg.set_sender_id(sender_id); Ok(SBP::MsgInsUpdates(msg)) } + 65287 => { + let mut msg = MsgGnssTimeOffset::parse(payload)?; + msg.set_sender_id(sender_id); + Ok(SBP::MsgGnssTimeOffset(msg)) + } 65535 => { let mut msg = MsgHeartbeat::parse(payload)?; msg.set_sender_id(sender_id); @@ -1546,6 +1553,7 @@ impl SBP { SBP::MsgCsacTelemetry(msg) => msg, SBP::MsgCsacTelemetryLabels(msg) => msg, SBP::MsgInsUpdates(msg) => msg, + SBP::MsgGnssTimeOffset(msg) => msg, SBP::MsgHeartbeat(msg) => msg, SBP::Unknown(msg) => msg, } diff --git a/rust/sbp/src/messages/system.rs b/rust/sbp/src/messages/system.rs index ee8313009c..3d6ef7afd0 100644 --- a/rust/sbp/src/messages/system.rs +++ b/rust/sbp/src/messages/system.rs @@ -218,6 +218,77 @@ impl crate::serialize::SbpSerialize for MsgDgnssStatus { } } +/// Offset of the local time with respect to GNSS time +/// +/// The GNSS time offset message contains the information that is needed to translate messages +/// tagged with a local timestamp (e.g. IMU or wheeltick messages) to GNSS time for the sender +/// producing this message. +/// +#[cfg_attr(feature = "sbp_serde", derive(Serialize, Deserialize))] +#[derive(Debug, Clone)] +#[allow(non_snake_case)] +pub struct MsgGnssTimeOffset { + pub sender_id: Option, + /// Weeks portion of the time offset + pub weeks: i16, + /// Milliseconds portion of the time offset + pub milliseconds: i32, + /// Microseconds portion of the time offset + pub microseconds: i16, + /// Status flags (reserved) + pub flags: u8, +} + +impl MsgGnssTimeOffset { + #[rustfmt::skip] + pub fn parse(_buf: &mut &[u8]) -> Result { + Ok( MsgGnssTimeOffset{ + sender_id: None, + weeks: _buf.read_i16::()?, + milliseconds: _buf.read_i32::()?, + microseconds: _buf.read_i16::()?, + flags: _buf.read_u8()?, + } ) + } +} +impl super::SBPMessage for MsgGnssTimeOffset { + fn get_message_type(&self) -> u16 { + 65287 + } + + fn get_sender_id(&self) -> Option { + self.sender_id + } + + fn set_sender_id(&mut self, new_id: u16) { + self.sender_id = Some(new_id); + } + + fn to_frame(&self) -> std::result::Result, crate::framer::FramerError> { + let trait_object = self as &dyn super::SBPMessage; + crate::framer::to_frame(trait_object) + } +} + +impl crate::serialize::SbpSerialize for MsgGnssTimeOffset { + #[allow(unused_variables)] + fn append_to_sbp_buffer(&self, buf: &mut Vec) { + self.weeks.append_to_sbp_buffer(buf); + self.milliseconds.append_to_sbp_buffer(buf); + self.microseconds.append_to_sbp_buffer(buf); + self.flags.append_to_sbp_buffer(buf); + } + + fn sbp_size(&self) -> usize { + let mut size = 0; + size += self.weeks.sbp_size(); + size += self.milliseconds.sbp_size(); + size += self.microseconds.sbp_size(); + size += self.flags.sbp_size(); + size + } +} + /// System heartbeat message /// /// The heartbeat message is sent periodically to inform the host diff --git a/rust/sbp/src/messages/vehicle.rs b/rust/sbp/src/messages/vehicle.rs index 019170a85e..b903180d06 100644 --- a/rust/sbp/src/messages/vehicle.rs +++ b/rust/sbp/src/messages/vehicle.rs @@ -30,6 +30,9 @@ use crate::SbpString; /// the definition and origin of the user frame are defined through the device settings interface. /// There are 4 possible user-defined sources of this message which are labeled arbitrarily /// source 0 through 3. +/// If using "processor time" time tags, the receiving end will expect a +/// `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise odometry measurements +/// with GNSS. /// #[cfg_attr(feature = "sbp_serde", derive(Serialize, Deserialize))] #[derive(Debug, Clone)] @@ -102,6 +105,9 @@ impl crate::serialize::SbpSerialize for MsgOdometry { /// from 0 to 255. /// The timestamp associated with this message should represent the time when the accumulated /// tick count reached the value given by the contents of this message as accurately as possible. +/// If using "local CPU time" time tags, the receiving end will expect a +/// `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise wheeltick measurements +/// with GNSS. /// #[cfg_attr(feature = "sbp_serde", derive(Serialize, Deserialize))] #[derive(Debug, Clone)] diff --git a/spec/yaml/swiftnav/sbp/imu.yaml b/spec/yaml/swiftnav/sbp/imu.yaml index a7a0f90846..92c8532e95 100644 --- a/spec/yaml/swiftnav/sbp/imu.yaml +++ b/spec/yaml/swiftnav/sbp/imu.yaml @@ -24,6 +24,11 @@ definitions: gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, are communicated via the MSG_IMU_AUX message. + If using "time since startup" time tags, the receiving end will expect a + `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements + with GNSS. + + The time-tagging mode should not change throughout a run. fields: - tow: type: u32 @@ -32,7 +37,7 @@ definitions: desc: Time status values: - 0: Reference epoch is start of current GPS week - - 1: reserved + - 1: Reference epoch is time of system startup - 2: Reference epoch is unknown - 3: Reference epoch is last PPS - 0-29: diff --git a/spec/yaml/swiftnav/sbp/system.yaml b/spec/yaml/swiftnav/sbp/system.yaml index e2085bec9d..6cb31edb18 100644 --- a/spec/yaml/swiftnav/sbp/system.yaml +++ b/spec/yaml/swiftnav/sbp/system.yaml @@ -282,3 +282,26 @@ definitions: - 0-3: desc: Number of rejected zero velocity updates since last message. + - MSG_GNSS_TIME_OFFSET: + id: 0xFF07 + short_desc: Offset of the local time with respect to GNSS time + desc: | + The GNSS time offset message contains the information that is needed to translate messages + tagged with a local timestamp (e.g. IMU or wheeltick messages) to GNSS time for the sender + producing this message. + fields: + - weeks: + type: s16 + units: weeks + desc: Weeks portion of the time offset + - milliseconds: + type: s32 + units: ms + desc: Milliseconds portion of the time offset + - microseconds: + type: s16 + units: microseconds + desc: Microseconds portion of the time offset + - flags: + type: u8 + desc: Status flags (reserved) \ No newline at end of file diff --git a/spec/yaml/swiftnav/sbp/vehicle.yaml b/spec/yaml/swiftnav/sbp/vehicle.yaml index bfb94059ad..813d726c65 100644 --- a/spec/yaml/swiftnav/sbp/vehicle.yaml +++ b/spec/yaml/swiftnav/sbp/vehicle.yaml @@ -23,6 +23,9 @@ definitions: the definition and origin of the user frame are defined through the device settings interface. There are 4 possible user-defined sources of this message which are labeled arbitrarily source 0 through 3. + If using "processor time" time tags, the receiving end will expect a + `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise odometry measurements + with GNSS. fields: - tow: type: u32 @@ -67,6 +70,9 @@ definitions: from 0 to 255. The timestamp associated with this message should represent the time when the accumulated tick count reached the value given by the contents of this message as accurately as possible. + If using "local CPU time" time tags, the receiving end will expect a + `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise wheeltick measurements + with GNSS. fields: - time: type: u64