[SO-6] Add SOLN_META message for Fuzed Wagon

c/include/libsbp/cpp/message_traits.h

@@ -29,6 +29,7 @@
 #include <libsbp/piksi.h>
 #include <libsbp/sbas.h>
 #include <libsbp/settings.h>
+#include <libsbp/solution_meta.h>
 #include <libsbp/ssr.h>
 #include <libsbp/system.h>
 #include <libsbp/tracking.h>
@@ -1103,6 +1104,30 @@ struct MessageTraits<msg_group_meta_t> {
 };
 
 
+template<>
+struct MessageTraits<msg_soln_meta_t> {
+  static constexpr u16 id = 65295;
+};
+
+
+template<>
+struct MessageTraits<gnss_input_type_t> {
+  static constexpr u16 id = 65511;
+};
+
+
+template<>
+struct MessageTraits<imu_input_type_t> {
+  static constexpr u16 id = 65512;
+};
+
+
+template<>
+struct MessageTraits<odo_input_type_t> {
+  static constexpr u16 id = 65513;
+};
+
+
 template<>
 struct MessageTraits<msg_heartbeat_t> {
   static constexpr u16 id = 65535;

c/include/libsbp/solution_meta.h

@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2015-2018 Swift Navigation Inc.
+ * Contact: Swift Navigation <dev@swiftnav.com>
+ *
+ * This source is subject to the license found in the file 'LICENSE' which must
+ * be be distributed together with this source. All other rights reserved.
+ *
+ * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+ * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+ */
+
+/*****************************************************************************
+ * Automatically generated from yaml/swiftnav/sbp/solution_meta.yaml
+ * with generate.py. Please do not hand edit!
+ *****************************************************************************/
+
+/** \defgroup solution_meta Solution_meta
+ *
+ * * Standardized Metadata messages for Fuzed Solution from Swift Navigation devices.
+ * \{ */
+
+#ifndef LIBSBP_SOLUTION_META_MESSAGES_H
+#define LIBSBP_SOLUTION_META_MESSAGES_H
+
+#include "common.h"
+
+SBP_PACK_START
+
+
+/** Flags for a given solution input type.
+ *
+ * Metadata describing which sensors were involved in the solution.
+ * The structure is fixed no matter what the actual sensor type is.
+ * The sensor_type field tells you which sensor we are talking about. It also tells you
+ * whether the sensor data was actually used or not.
+ * The flags field, always a u8, contains the sensor-specific data.
+ * The content of flags, for each sensor type, is described in the relevant structures in this section.
+ */
+typedef struct SBP_ATTR_PACKED {
+  u8 sensor_type;    /**< The type of sensor */
+  u8 flags;          /**< Refer to each InputType description [(XX)InputType] */
+} solution_input_type_t;
+
+
+/** Solution Sensors Metadata
+ *
+ * This message contains all metadata about the sensors received and/or used in computing the Fuzed Solution.
+ * It focuses primarly, but not only, on GNSS metadata.
+ */
+#define SBP_MSG_SOLN_META 0xFF0F
+typedef struct SBP_ATTR_PACKED {
+  u16 pdop;                      /**< Position Dilution of Precision, as per last available DOPS from Starling GNSS engine [0.01] */
+  u16 hdop;                      /**< Horizontal Dilution of Precision, as per last available DOPS from Starling GNSS engine [0.01] */
+  u16 vdop;                      /**< Vertical Dilution of Precision, as per last available DOPS from Starling GNSS engine [0.01] */
+  u8 n_sats;                    /**< Number of satellites used in solution, as per last available DOPS from Starling GNSS engine */
+  u16 age_corrections;           /**< Age of the corrections (0xFFFF indicates invalid), as per last available AGE_CORRECTIONS from Starling GNSS engine [deciseconds] */
+  u8 alignment_status;          /**< Bits for reason why it cannot align (yet) */
+  u32 last_used_gnss_pos_tow;    /**< Tow of last-used GNSS position measurement [ms] */
+  u32 last_used_gnss_vel_tow;    /**< Tow of last-used GNSS velocity measurement [ms] */
+  solution_input_type_t sol_in[0];                 /**< Array of Metadata describing the sensors potentially involved in the solution. Each element in the array represents a single sensor type and consists of flags containing (meta)data pertaining to that specific single sensor. Refer to each (XX)InputType descriptor in the present doc. */
+} msg_soln_meta_t;
+
+
+/** Flags for a given GNSS sensor used as input for the fuzed solution.
+ *
+ * Metadata around the GNSS sensors involved in the fuzed solution. Accessible through sol_in[N].flags
+ *                                                                         in a MSG_SOLN_META.
+ * Note: Just to build descriptive tables in documentation and not actually used.
+ */
+#define SBP_GNSSInputType 0xFFE7
+typedef struct SBP_ATTR_PACKED {
+  u8 flags;    /**< flags that store all relevant info specific to this sensor type. */
+} gnss_input_type_t;
+
+
+/** Flags for a given IMU sensor used as input for the fuzed solution.
+ *
+ * Metadata around the IMU sensors involved in the fuzed solution. Accessible through sol_in[N].flags
+ *                                                                        in a MSG_SOLN_META.
+ * Note: Just to build descriptive tables in documentation and not actually used.
+ */
+#define SBP_IMUInputType  0xFFE8
+typedef struct SBP_ATTR_PACKED {
+  u8 flags;    /**< flags that store all relevant info specific to this sensor type. */
+} imu_input_type_t;
+
+
+/** Flags for a given Odometry sensor used as input for the fuzed solution.
+ *
+ * Metadata around the Odometry sensors involved in the fuzed solution. Accessible through sol_in[N].flags
+ *                                                                             in a MSG_SOLN_META.
+ * Note: Just to build descriptive tables in documentation and not actually used.
+ */
+#define SBP_OdoInputType  0xFFE9
+typedef struct SBP_ATTR_PACKED {
+  u8 flags;    /**< flags that store all relevant info specific to this sensor type. */
+} odo_input_type_t;
+
+
+/** \} */
+
+SBP_PACK_END
+
+#endif /* LIBSBP_SOLUTION_META_MESSAGES_H */

generator/sbpg/targets/java.py

@@ -54,6 +54,7 @@ def classnameify(s):
   """
   Makes a classname.
   """
+  if '_' not in s: return s
   return ''.join(w if w in ACRONYMS else w.title() for w in s.split('_'))
 
 

haskell/sbp.cabal

@@ -2,7 +2,7 @@ name:                  sbp
 version:               3.2.0
 synopsis:              SwiftNav's SBP Library
 homepage:              https://github.com/swift-nav/libsbp
-license:               LGPL-3
+license:               MIT
 author:                Swift Navigation Inc.
 maintainer:            Swift Navigation <dev@swiftnav.com>
 copyright:             Copyright (C) 2015-2018 Swift Navigation, Inc.
@@ -42,6 +42,7 @@ library
                      , SwiftNav.SBP.Piksi
                      , SwiftNav.SBP.Sbas
                      , SwiftNav.SBP.Settings
+                     , SwiftNav.SBP.SolutionMeta
                      , SwiftNav.SBP.Ssr
                      , SwiftNav.SBP.System
                      , SwiftNav.SBP.Tracking

haskell/src/SwiftNav/SBP.hs

@@ -1,7 +1,7 @@
 -- |
 -- Module:      SwiftNav.SBP
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable
@@ -31,6 +31,7 @@ import SwiftNav.SBP.Orientation as Exports
 import SwiftNav.SBP.Piksi as Exports
 import SwiftNav.SBP.Sbas as Exports
 import SwiftNav.SBP.Settings as Exports
+import SwiftNav.SBP.SolutionMeta as Exports
 import SwiftNav.SBP.Ssr as Exports
 import SwiftNav.SBP.System as Exports
 import SwiftNav.SBP.Tracking as Exports

haskell/src/SwiftNav/SBP/Acquisition.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.Acquisition
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable

haskell/src/SwiftNav/SBP/Bootload.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.Bootload
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable

haskell/src/SwiftNav/SBP/ExtEvents.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.ExtEvents
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable

haskell/src/SwiftNav/SBP/FileIo.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.FileIo
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable

haskell/src/SwiftNav/SBP/Flash.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.Flash
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable

haskell/src/SwiftNav/SBP/Gnss.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.Gnss
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable

haskell/src/SwiftNav/SBP/Imu.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.Imu
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable

haskell/src/SwiftNav/SBP/Linux.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.Linux
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable

haskell/src/SwiftNav/SBP/Logging.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.Logging
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable

haskell/src/SwiftNav/SBP/Mag.hs

@@ -6,7 +6,7 @@
 -- |
 -- Module:      SwiftNav.SBP.Mag
 -- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.
--- License:     LGPL-3
+-- License:     MIT
 -- Maintainer:  Swift Navigation <dev@swiftnav.com>
 -- Stability:   experimental
 -- Portability: portable