From f34347c22b1877d43ac0d7d0476385e095b071e6 Mon Sep 17 00:00:00 2001 From: Guillaume Decerprit Date: Fri, 21 Aug 2020 19:10:01 -0700 Subject: [PATCH 1/7] Update MSG_GROUP_META --- .../sbp/system/test_MsgGroupMeta.yaml | 18 ++++++++------- spec/yaml/swiftnav/sbp/system.yaml | 23 +++++++++++++++---- 2 files changed, 29 insertions(+), 12 deletions(-) diff --git a/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml b/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml index fbbab81753..6abe4a235e 100644 --- a/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml +++ b/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml @@ -6,24 +6,26 @@ tests: - msg: fields: + group_id: 1 wn: 1984 tom: 123456 ns_residual: 0 flags: 0b00000011 - group_msgs: [522, 65282] # pos_lla & msg_ins_updates + n_group_msgs: 3 # includes group_meta itself + group_msgs: [65290, 522, 65282] # group_meta, pos_lla & msg_ins_updates module: sbp.system name: MsgGroupMeta msg_type: '0xFF0A' - raw_json: '{"crc": 19612, "flags": 3, "wn": 1984, "sender": 61166, "msg_type": 65290, - "tom": 123456, "ns_residual": 0, "length": 15, "group_msgs": [522, 65282], "preamble": 85, "payload": - "wAdA4gEAAAAAAAMKAgL/"}' + raw_json: '{"crc": 36349, "flags": 3, "group_id": 1, "wn": 1984, "sender": 61166, "msg_type": 65290, +"tom": 123456, "ns_residual": 0, "length": 19, "n_group_msgs": 3 ,"group_msgs": [65290, 522, 65282], "preamble": 85, "payload": +"AcAHQOIBAAAAAAADAwr/CgIC/w=="}' # base64 - raw_packet: VQr/7u4PwAdA4gEAAAAAAAMKAgL/nEw= + raw_packet: VQr/7u4TAcAHQOIBAAAAAAADAwr/CgIC//2N sbp: - crc: '0x4c9c' - length: 15 + crc: '0x8dfd' + length: 19 msg_type: '0xFF0A' - payload: wAdA4gEAAAAAAAMKAgL/ + payload: AcAHQOIBAAAAAAADAwr/CgIC/w== preamble: '0x55' sender: '0xEEEE' version: 3.1 diff --git a/spec/yaml/swiftnav/sbp/system.yaml b/spec/yaml/swiftnav/sbp/system.yaml index fd3f069f7c..0b7b759dec 100644 --- a/spec/yaml/swiftnav/sbp/system.yaml +++ b/spec/yaml/swiftnav/sbp/system.yaml @@ -309,13 +309,16 @@ definitions: desc: Status flags (reserved) - MSG_GROUP_META: - id: 0xFF0A + id: 0xFF0A # 65290 short_desc: Solution Group Metadata public: true desc: | This leading message lists the time metadata of the Solution Group. It also lists the atomic contents (i.e. types of messages included) of the Solution Group. fields: + - group_id: + type: u8 + desc: Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss - wn: type: u16 units: weeks @@ -334,8 +337,15 @@ definitions: type: u8 desc: Status flags (reserved) fields: - - 4-7: + - 6-7: desc: Reserved + - 4-5: + desc: Time quality + values: + - 0: Unknown, CPU local, or Invalid + - 1: Coarse (order of 1ms) + - 2: Propagated + - 3: Finer or Finest - 2-3: desc: Solution Group type values: @@ -344,13 +354,18 @@ definitions: - 2: GNSS+INS (Fuzed) - 3: Reserved - 0-1: - desc: Time source + desc: Time reference values: - 0: Reference epoch is start of current GPS week - 1: Reference epoch is Sensor Time Init - 2: Reference epoch is unknown - 3: Reference epoch is last PPS + - n_group_msgs: + type: u8 + desc: Size of list group_msgs - group_msgs: type: array fill: u16 - desc: An inorder list of message types included in the Solution Group + desc: | + An inorder list of message types included in the Solution Group, + including GROUP_META itself \ No newline at end of file From 055cf4428333db32f10db541d832d1aee43634d1 Mon Sep 17 00:00:00 2001 From: Guillaume Decerprit Date: Fri, 21 Aug 2020 19:17:34 -0700 Subject: [PATCH 2/7] Pick bindings only concerned with new group_meta. The other bindings are built because the latest libsbp commit for 1.2.0 doesnt actually include all the bindings. Perhaps this was intended, but it makes libsbp updates more complex. --- c/include/libsbp/system.h | 13 ++++++++----- proto/system.proto | 12 +++++++----- python/sbp/jit/system.py | 10 +++++++++- python/sbp/system.py | 13 ++++++++++++- 4 files changed, 36 insertions(+), 12 deletions(-) diff --git a/c/include/libsbp/system.h b/c/include/libsbp/system.h index 8b72211262..73634bce9e 100644 --- a/c/include/libsbp/system.h +++ b/c/include/libsbp/system.h @@ -153,13 +153,16 @@ typedef struct SBP_ATTR_PACKED { */ #define SBP_MSG_GROUP_META 0xFF0A typedef struct SBP_ATTR_PACKED { - u16 wn; /**< GPS Week Number or zero if Reference epoch is not GPS [weeks] */ - u32 tom; /**< Time of Measurement in Milliseconds since reference epoch [ms] */ - s32 ns_residual; /**< Nanosecond residual of millisecond-rounded TOM (ranges + u8 group_id; /**< Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss */ + u16 wn; /**< GPS Week Number or zero if Reference epoch is not GPS [weeks] */ + u32 tom; /**< Time of Measurement in Milliseconds since reference epoch [ms] */ + s32 ns_residual; /**< Nanosecond residual of millisecond-rounded TOM (ranges from -500000 to 500000) [ns] */ - u8 flags; /**< Status flags (reserved) */ - u16 group_msgs[0]; /**< An inorder list of message types included in the Solution Group */ + u8 flags; /**< Status flags (reserved) */ + u8 n_group_msgs; /**< Size of list group_msgs */ + u16 group_msgs[0]; /**< An inorder list of message types included in the Solution Group, +including GROUP_META itself */ } msg_group_meta_t; diff --git a/proto/system.proto b/proto/system.proto index 2415898db5..c8eb34d51c 100644 --- a/proto/system.proto +++ b/proto/system.proto @@ -127,9 +127,11 @@ message MsgGnssTimeOffset { * It also lists the atomic contents (i.e. types of messages included) of the Solution Group. */ message MsgGroupMeta { - uint32 wn = 1; - uint32 tom = 2; - sint32 ns_residual = 3; - uint32 flags = 4; - repeated uint32 group_msgs = 5; + uint32 group_id = 1; + uint32 wn = 2; + uint32 tom = 3; + sint32 ns_residual = 4; + uint32 flags = 5; + uint32 n_group_msgs = 6; + repeated uint32 group_msgs = 7; } \ No newline at end of file diff --git a/python/sbp/jit/system.py b/python/sbp/jit/system.py index ddc5f7bd3b..fb49394953 100644 --- a/python/sbp/jit/system.py +++ b/python/sbp/jit/system.py @@ -367,15 +367,19 @@ class MsgGroupMeta(SBP): """ - __slots__ = ['wn', + __slots__ = ['group_id', + 'wn', 'tom', 'ns_residual', 'flags', + 'n_group_msgs', 'group_msgs', ] @classmethod def parse_members(cls, buf, offset, length): ret = {} + (__group_id, offset, length) = get_u8(buf, offset, length) + ret['group_id'] = __group_id (__wn, offset, length) = get_u16(buf, offset, length) ret['wn'] = __wn (__tom, offset, length) = get_u32(buf, offset, length) @@ -384,6 +388,8 @@ def parse_members(cls, buf, offset, length): ret['ns_residual'] = __ns_residual (__flags, offset, length) = get_u8(buf, offset, length) ret['flags'] = __flags + (__n_group_msgs, offset, length) = get_u8(buf, offset, length) + ret['n_group_msgs'] = __n_group_msgs (__group_msgs, offset, length) = get_array(get_u16)(buf, offset, length) ret['group_msgs'] = __group_msgs return ret, offset, length @@ -392,10 +398,12 @@ def _unpack_members(self, buf, offset, length): res, off, length = self.parse_members(buf, offset, length) if off == offset: return {}, offset, length + self.group_id = res['group_id'] self.wn = res['wn'] self.tom = res['tom'] self.ns_residual = res['ns_residual'] self.flags = res['flags'] + self.n_group_msgs = res['n_group_msgs'] self.group_msgs = res['group_msgs'] return res, off, length diff --git a/python/sbp/system.py b/python/sbp/system.py index b49d30f080..4b65d24a04 100644 --- a/python/sbp/system.py +++ b/python/sbp/system.py @@ -864,6 +864,8 @@ class MsgGroupMeta(SBP): ---------- sbp : SBP SBP parent object to inherit from. + group_id : int + Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss wn : int GPS Week Number or zero if Reference epoch is not GPS tom : int @@ -874,23 +876,30 @@ class MsgGroupMeta(SBP): flags : int Status flags (reserved) + n_group_msgs : int + Size of list group_msgs group_msgs : array - An inorder list of message types included in the Solution Group + An inorder list of message types included in the Solution Group, +including GROUP_META itself sender : int Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). """ _parser = construct.Struct( + 'group_id' / construct.Int8ul, 'wn' / construct.Int16ul, 'tom' / construct.Int32ul, 'ns_residual' / construct.Int32sl, 'flags' / construct.Int8ul, + 'n_group_msgs' / construct.Int8ul, construct.GreedyRange('group_msgs' / construct.Int16ul),) __slots__ = [ + 'group_id', 'wn', 'tom', 'ns_residual', 'flags', + 'n_group_msgs', 'group_msgs', ] @@ -904,10 +913,12 @@ def __init__(self, sbp=None, **kwargs): super( MsgGroupMeta, self).__init__() self.msg_type = SBP_MSG_GROUP_META self.sender = kwargs.pop('sender', SENDER_ID) + self.group_id = kwargs.pop('group_id') self.wn = kwargs.pop('wn') self.tom = kwargs.pop('tom') self.ns_residual = kwargs.pop('ns_residual') self.flags = kwargs.pop('flags') + self.n_group_msgs = kwargs.pop('n_group_msgs') self.group_msgs = kwargs.pop('group_msgs') def __repr__(self): From 8a815d6089a35610b579243003e7defb6e25fa47 Mon Sep 17 00:00:00 2001 From: Guillaume D Date: Sun, 23 Aug 2020 10:46:40 -0700 Subject: [PATCH 3/7] Anthony/adjust meta msg (#838) * Remove time from soln meta message * GNSS only version of gps_time and utc_time * Add bindings for the two new _gnss msgs and updated group_meta Co-authored-by: Anthony --- c/include/libsbp/cpp/message_traits.h | 12 + c/include/libsbp/navigation.h | 46 ++++ c/include/libsbp/observation.h | 26 +- c/include/libsbp/system.h | 5 - c/test/auto_check_sbp_system_36.c | 14 +- docs/sbp.pdf | Bin 459358 -> 464513 bytes haskell/src/SwiftNav/SBP/Msg.hs | 12 + haskell/src/SwiftNav/SBP/Navigation.hs | 101 +++++++ haskell/src/SwiftNav/SBP/Observation.hs | 20 +- haskell/src/SwiftNav/SBP/System.hs | 26 +- .../com/swiftnav/sbp/client/MessageTable.java | 6 + .../sbp/navigation/MsgGPSTimeGnss.java | 97 +++++++ .../sbp/navigation/MsgUtcTimeGnss.java | 114 ++++++++ .../sbp/observation/MsgEphemerisBds.java | 12 +- .../sbp/observation/MsgEphemerisGal.java | 6 +- .../sbp/observation/MsgEphemerisGalDepA.java | 4 +- .../sbp/observation/MsgEphemerisGlo.java | 2 +- .../sbp/observation/MsgEphemerisGloDepD.java | 2 +- .../com/swiftnav/sbp/system/MsgGroupMeta.java | 33 +-- javascript/sbp.bundle.js | 6 +- javascript/sbp/navigation.js | 100 +++++++ javascript/sbp/observation.js | 20 +- javascript/sbp/system.js | 18 +- jsonschema/MsgGPSTimeGnss.json | 30 +++ jsonschema/MsgGroupMeta.json | 10 +- jsonschema/MsgUtcTimeGnss.json | 40 +++ proto/navigation.proto | 40 +++ proto/system.proto | 9 +- python/sbp/jit/navigation.py | 119 +++++++++ python/sbp/jit/system.py | 12 - python/sbp/navigation.py | 252 ++++++++++++++++++ python/sbp/observation.py | 22 +- python/sbp/system.py | 17 -- python/tests/sbp/test_table.py | 2 +- rust/sbp/src/messages/mod.rs | 16 ++ rust/sbp/src/messages/navigation.rs | 177 ++++++++++++ rust/sbp/src/messages/observation.rs | 20 +- rust/sbp/src/messages/system.rs | 29 +- rust/sbp/tests/auto_check_sbp_system_36.rs | 36 +-- .../sbp/system/test_MsgGroupMeta.yaml | 20 +- spec/yaml/swiftnav/sbp/navigation.yaml | 104 ++++++++ spec/yaml/swiftnav/sbp/system.yaml | 32 +-- 42 files changed, 1439 insertions(+), 230 deletions(-) create mode 100644 java/src/com/swiftnav/sbp/navigation/MsgGPSTimeGnss.java create mode 100644 java/src/com/swiftnav/sbp/navigation/MsgUtcTimeGnss.java create mode 100644 jsonschema/MsgGPSTimeGnss.json create mode 100644 jsonschema/MsgUtcTimeGnss.json diff --git a/c/include/libsbp/cpp/message_traits.h b/c/include/libsbp/cpp/message_traits.h index 2c03396ea4..e7c0de8ad9 100644 --- a/c/include/libsbp/cpp/message_traits.h +++ b/c/include/libsbp/cpp/message_traits.h @@ -672,6 +672,18 @@ struct MessageTraits { }; +template<> +struct MessageTraits { + static constexpr u16 id = 260; +}; + + +template<> +struct MessageTraits { + static constexpr u16 id = 261; +}; + + template<> struct MessageTraits { static constexpr u16 id = 431; diff --git a/c/include/libsbp/navigation.h b/c/include/libsbp/navigation.h index 93f5d3a745..794e762e49 100644 --- a/c/include/libsbp/navigation.h +++ b/c/include/libsbp/navigation.h @@ -72,6 +72,33 @@ from -500000 to 500000) } msg_gps_time_t; +/** GPS Time + * + * This message reports the GPS time, representing the time since + * the GPS epoch began on midnight January 6, 1980 UTC. GPS time + * counts the weeks and seconds of the week. The weeks begin at the + * Saturday/Sunday transition. GPS week 0 began at the beginning of + * the GPS time scale. + * + * Within each week number, the GPS time of the week is between + * between 0 and 604800 seconds (=60*60*24*7). Note that GPS time + * does not accumulate leap seconds, and as of now, has a small + * offset from UTC. In a message stream, this message precedes a + * set of other navigation messages referenced to the same time + * (but lacking the ns field) and indicates a more precise time of + * these messages. + */ +#define SBP_MSG_GPS_TIME_GNSS 0x0104 +typedef struct SBP_ATTR_PACKED { + u16 wn; /**< GPS week number [weeks] */ + u32 tow; /**< GPS time of week rounded to the nearest millisecond [ms] */ + s32 ns_residual; /**< Nanosecond residual of millisecond-rounded TOW (ranges +from -500000 to 500000) + [ns] */ + u8 flags; /**< Status flags (reserved) */ +} msg_gps_time_gnss_t; + + /** UTC Time * * This message reports the Universal Coordinated Time (UTC). Note the flags @@ -91,6 +118,25 @@ typedef struct SBP_ATTR_PACKED { } msg_utc_time_t; +/** UTC Time + * + * This message reports the Universal Coordinated Time (UTC). Note the flags + * which indicate the source of the UTC offset value and source of the time fix. + */ +#define SBP_MSG_UTC_TIME_GNSS 0x0105 +typedef struct SBP_ATTR_PACKED { + u8 flags; /**< Indicates source and time validity */ + u32 tow; /**< GPS time of week rounded to the nearest millisecond [ms] */ + u16 year; /**< Year [year] */ + u8 month; /**< Month (range 1 .. 12) [months] */ + u8 day; /**< days in the month (range 1-31) [day] */ + u8 hours; /**< hours of day (range 0-23) [hours] */ + u8 minutes; /**< minutes of hour (range 0-59) [minutes] */ + u8 seconds; /**< seconds of minute (range 0-60) rounded down [seconds] */ + u32 ns; /**< nanoseconds of second (range 0-999999999) [nanoseconds] */ +} msg_utc_time_gnss_t; + + /** Dilution of Precision * * This dilution of precision (DOP) message describes the effect of diff --git a/c/include/libsbp/observation.h b/c/include/libsbp/observation.h index 2e2ce5879b..3a4b49bfe7 100644 --- a/c/include/libsbp/observation.h +++ b/c/include/libsbp/observation.h @@ -371,8 +371,16 @@ typedef struct SBP_ATTR_PACKED { float af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */ float af2; /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */ gps_time_sec_t toc; /**< Clock reference */ - u8 iode; /**< Issue of ephemeris data */ - u16 iodc; /**< Issue of clock data */ + u8 iode; /**< Issue of ephemeris data + +Calculated from the navigation data parameter t_oe per RTCM/CSNO recommendation: +IODE = mod (t_oe / 720, 240) + */ + u16 iodc; /**< Issue of clock data + +Calculated from the navigation data parameter t_oe per RTCM/CSNO recommendation: +IODE = mod (t_oc / 720, 240) + */ } msg_ephemeris_bds_t; @@ -405,8 +413,8 @@ typedef struct SBP_ATTR_PACKED { double af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */ float af2; /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */ gps_time_sec_t toc; /**< Clock reference */ - u16 iode; /**< Issue of ephemeris data */ - u16 iodc; /**< Issue of clock data */ + u16 iode; /**< Issue of data (IODnav) */ + u16 iodc; /**< Issue of data (IODnav). Always equal to iode */ } msg_ephemeris_gal_dep_a_t; @@ -441,9 +449,9 @@ typedef struct SBP_ATTR_PACKED { double af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */ float af2; /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */ gps_time_sec_t toc; /**< Clock reference */ - u16 iode; /**< Issue of ephemeris data */ - u16 iodc; /**< Issue of clock data */ - u8 source; /**< 0=I/NAV, 1=F/NAV, ... */ + u16 iode; /**< Issue of data (IODnav) */ + u16 iodc; /**< Issue of data (IODnav). Always equal to iode */ + u8 source; /**< 0=I/NAV, 1=F/NAV */ } msg_ephemeris_gal_t; @@ -559,7 +567,7 @@ typedef struct SBP_ATTR_PACKED { double vel[3]; /**< Velocity vector of the SV at tb in PZ-90.02 coordinates system [m/s] */ double acc[3]; /**< Acceleration vector of the SV at tb in PZ-90.02 coordinates sys [m/s^2] */ u8 fcn; /**< Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid */ - u8 iod; /**< Issue of ephemeris data */ + u8 iod; /**< Issue of data. Equal to the 7 bits of the immediate data word t_b */ } msg_ephemeris_glo_dep_d_t; @@ -581,7 +589,7 @@ typedef struct SBP_ATTR_PACKED { double vel[3]; /**< Velocity vector of the SV at tb in PZ-90.02 coordinates system [m/s] */ float acc[3]; /**< Acceleration vector of the SV at tb in PZ-90.02 coordinates sys [m/s^2] */ u8 fcn; /**< Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid */ - u8 iod; /**< Issue of ephemeris data */ + u8 iod; /**< Issue of data. Equal to the 7 bits of the immediate data word t_b */ } msg_ephemeris_glo_t; diff --git a/c/include/libsbp/system.h b/c/include/libsbp/system.h index 73634bce9e..c954ef6cef 100644 --- a/c/include/libsbp/system.h +++ b/c/include/libsbp/system.h @@ -154,11 +154,6 @@ typedef struct SBP_ATTR_PACKED { #define SBP_MSG_GROUP_META 0xFF0A typedef struct SBP_ATTR_PACKED { u8 group_id; /**< Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss */ - u16 wn; /**< GPS Week Number or zero if Reference epoch is not GPS [weeks] */ - u32 tom; /**< Time of Measurement in Milliseconds since reference epoch [ms] */ - s32 ns_residual; /**< Nanosecond residual of millisecond-rounded TOM (ranges -from -500000 to 500000) - [ns] */ u8 flags; /**< Status flags (reserved) */ u8 n_group_msgs; /**< Size of list group_msgs */ u16 group_msgs[0]; /**< An inorder list of message types included in the Solution Group, diff --git a/c/test/auto_check_sbp_system_36.c b/c/test/auto_check_sbp_system_36.c index 61e047d176..208f379e96 100644 --- a/c/test/auto_check_sbp_system_36.c +++ b/c/test/auto_check_sbp_system_36.c @@ -99,7 +99,7 @@ START_TEST( test_auto_check_sbp_system_36 ) sbp_register_callback(&sbp_state, 0xFF0A, &logging_callback, &DUMMY_MEMORY_FOR_CALLBACKS, &n); - u8 test_data[] = {85,10,255,238,238,15,192,7,64,226,1,0,0,0,0,0,3,10,2,2,255,156,76, }; + u8 test_data[] = {85,10,255,238,238,9,1,2,3,10,255,10,2,2,255,2,14, }; dummy_reset(); sbp_send_message(&sbp_state, 0xFF0A, 61166, sizeof(test_data), test_data, &dummy_write); @@ -125,12 +125,12 @@ START_TEST( test_auto_check_sbp_system_36 ) msg_group_meta_t* msg = ( msg_group_meta_t *)((void *)last_msg + 6); // Run tests against fields fail_unless(msg != 0, "stub to prevent warnings if msg isn't used"); - fail_unless(msg->flags == 3, "incorrect value for flags, expected 3, is %d", msg->flags); - fail_unless(msg->group_msgs[0] == 522, "incorrect value for group_msgs[0], expected 522, is %d", msg->group_msgs[0]); - fail_unless(msg->group_msgs[1] == 65282, "incorrect value for group_msgs[1], expected 65282, is %d", msg->group_msgs[1]); - fail_unless(msg->ns_residual == 0, "incorrect value for ns_residual, expected 0, is %d", msg->ns_residual); - fail_unless(msg->tom == 123456, "incorrect value for tom, expected 123456, is %d", msg->tom); - fail_unless(msg->wn == 1984, "incorrect value for wn, expected 1984, is %d", msg->wn); + fail_unless(msg->flags == 2, "incorrect value for flags, expected 2, is %d", msg->flags); + fail_unless(msg->group_id == 1, "incorrect value for group_id, expected 1, is %d", msg->group_id); + fail_unless(msg->group_msgs[0] == 65290, "incorrect value for group_msgs[0], expected 65290, is %d", msg->group_msgs[0]); + fail_unless(msg->group_msgs[1] == 522, "incorrect value for group_msgs[1], expected 522, is %d", msg->group_msgs[1]); + fail_unless(msg->group_msgs[2] == 65282, "incorrect value for group_msgs[2], expected 65282, is %d", msg->group_msgs[2]); + fail_unless(msg->n_group_msgs == 3, "incorrect value for n_group_msgs, expected 3, is %d", msg->n_group_msgs); } } END_TEST diff --git a/docs/sbp.pdf b/docs/sbp.pdf index dae51223547fec7931041e1dbe0cd38688d3fa50..3326ea5e5b1cc5f32707f40fe4a72ce80221db34 100644 GIT binary patch delta 213880 zcmbTdQRCWv$ucNTG$@ctv%{(vK|mNT!k7t`o>W(2ArfB}K<= z-4U%J0lO!)=KrvwnV*G4mG

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znfr}CtOcXmuF!^crQxWiUNU#fN>GK)d|XRSw)-UbYa~6)ZtRw+Yr4+Wyj#He#PxU0=hZbG!Is{0wTrn<1~iZk~FD z_~^rI_v*^wVBczeHaLFMC+y_4pLS0^XDQqNSMYyL+}na?pqC#CwPUW1j~B780SW>1@Zn?>Tjm`qS!>n#cCX79;`#6Zax_w8^{a{a7j znUSSEZsEii&+K2bF0c2@mDT)9B|kYCIs7#0+YlN1Kls8${w<=%r*7Q$M`Y0{#X-YZ ps$qF;`wT0_w`2S8cc(QeVT(hU6a)wJ!n8Hc=t30~EFF;0{{a~t#0vlb diff --git a/haskell/src/SwiftNav/SBP/Msg.hs b/haskell/src/SwiftNav/SBP/Msg.hs index 290607cc79..d32c94b564 100644 --- a/haskell/src/SwiftNav/SBP/Msg.hs +++ b/haskell/src/SwiftNav/SBP/Msg.hs @@ -135,6 +135,7 @@ data SBPMsg = | SBPMsgGnssTimeOffset MsgGnssTimeOffset Msg | SBPMsgGpsTime MsgGpsTime Msg | SBPMsgGpsTimeDepA MsgGpsTimeDepA Msg + | SBPMsgGpsTimeGnss MsgGpsTimeGnss Msg | SBPMsgGroupDelay MsgGroupDelay Msg | SBPMsgGroupDelayDepA MsgGroupDelayDepA Msg | SBPMsgGroupDelayDepB MsgGroupDelayDepB Msg @@ -233,6 +234,7 @@ data SBPMsg = | SBPMsgUartStateDepa MsgUartStateDepa Msg | SBPMsgUserData MsgUserData Msg | SBPMsgUtcTime MsgUtcTime Msg + | SBPMsgUtcTimeGnss MsgUtcTimeGnss Msg | SBPMsgVelBody MsgVelBody Msg | SBPMsgVelEcef MsgVelEcef Msg | SBPMsgVelEcefCov MsgVelEcefCov Msg @@ -339,6 +341,7 @@ instance Binary SBPMsg where | _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 == msgGpsTimeGnss = SBPMsgGpsTimeGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelayDepA = SBPMsgGroupDelayDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelayDepB = SBPMsgGroupDelayDepB (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -437,6 +440,7 @@ instance Binary SBPMsg where | _msgSBPType == msgUartStateDepa = SBPMsgUartStateDepa (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgUserData = SBPMsgUserData (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgUtcTime = SBPMsgUtcTime (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgUtcTimeGnss = SBPMsgUtcTimeGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelBody = SBPMsgVelBody (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelEcefCov = SBPMsgVelEcefCov (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -535,6 +539,7 @@ instance Binary SBPMsg where encoder (SBPMsgGnssTimeOffset _ m) = put m encoder (SBPMsgGpsTime _ m) = put m encoder (SBPMsgGpsTimeDepA _ m) = put m + encoder (SBPMsgGpsTimeGnss _ m) = put m encoder (SBPMsgGroupDelay _ m) = put m encoder (SBPMsgGroupDelayDepA _ m) = put m encoder (SBPMsgGroupDelayDepB _ m) = put m @@ -633,6 +638,7 @@ instance Binary SBPMsg where encoder (SBPMsgUartStateDepa _ m) = put m encoder (SBPMsgUserData _ m) = put m encoder (SBPMsgUtcTime _ m) = put m + encoder (SBPMsgUtcTimeGnss _ m) = put m encoder (SBPMsgVelBody _ m) = put m encoder (SBPMsgVelEcef _ m) = put m encoder (SBPMsgVelEcefCov _ m) = put m @@ -735,6 +741,7 @@ instance FromJSON SBPMsg where | 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 == msgGpsTimeGnss = SBPMsgGpsTimeGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelay = SBPMsgGroupDelay <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelayDepA = SBPMsgGroupDelayDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelayDepB = SBPMsgGroupDelayDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -833,6 +840,7 @@ instance FromJSON SBPMsg where | msgType == msgUartStateDepa = SBPMsgUartStateDepa <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgUserData = SBPMsgUserData <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgUtcTime = SBPMsgUtcTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgUtcTimeGnss = SBPMsgUtcTimeGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelBody = SBPMsgVelBody <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelEcef = SBPMsgVelEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelEcefCov = SBPMsgVelEcefCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -936,6 +944,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgGnssTimeOffset n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGpsTime n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGpsTimeDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgGpsTimeGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelay n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelayDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelayDepB n m) = toJSON n <<>> toJSON m @@ -1034,6 +1043,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgUartStateDepa n m) = toJSON n <<>> toJSON m toJSON (SBPMsgUserData n m) = toJSON n <<>> toJSON m toJSON (SBPMsgUtcTime n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgUtcTimeGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelBody n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelEcef n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelEcefCov n m) = toJSON n <<>> toJSON m @@ -1131,6 +1141,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgGnssTimeOffset n m) = SBPMsgGnssTimeOffset n <$> f m msg f (SBPMsgGpsTime n m) = SBPMsgGpsTime n <$> f m msg f (SBPMsgGpsTimeDepA n m) = SBPMsgGpsTimeDepA n <$> f m + msg f (SBPMsgGpsTimeGnss n m) = SBPMsgGpsTimeGnss n <$> f m msg f (SBPMsgGroupDelay n m) = SBPMsgGroupDelay n <$> f m msg f (SBPMsgGroupDelayDepA n m) = SBPMsgGroupDelayDepA n <$> f m msg f (SBPMsgGroupDelayDepB n m) = SBPMsgGroupDelayDepB n <$> f m @@ -1229,6 +1240,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgUartStateDepa n m) = SBPMsgUartStateDepa n <$> f m msg f (SBPMsgUserData n m) = SBPMsgUserData n <$> f m msg f (SBPMsgUtcTime n m) = SBPMsgUtcTime n <$> f m + msg f (SBPMsgUtcTimeGnss n m) = SBPMsgUtcTimeGnss n <$> f m msg f (SBPMsgVelBody n m) = SBPMsgVelBody n <$> f m msg f (SBPMsgVelEcef n m) = SBPMsgVelEcef n <$> f m msg f (SBPMsgVelEcefCov n m) = SBPMsgVelEcefCov n <$> f m diff --git a/haskell/src/SwiftNav/SBP/Navigation.hs b/haskell/src/SwiftNav/SBP/Navigation.hs index 6b1071d27d..bbd93f3cb2 100644 --- a/haskell/src/SwiftNav/SBP/Navigation.hs +++ b/haskell/src/SwiftNav/SBP/Navigation.hs @@ -93,6 +93,50 @@ $(makeSBP 'msgGpsTime ''MsgGpsTime) $(makeJSON "_msgGpsTime_" ''MsgGpsTime) $(makeLenses ''MsgGpsTime) +msgGpsTimeGnss :: Word16 +msgGpsTimeGnss = 0x0104 + +-- | SBP class for message MSG_GPS_TIME_GNSS (0x0104). +-- +-- This message reports the GPS time, representing the time since the GPS epoch +-- began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds +-- of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 +-- began at the beginning of the GPS time scale. Within each week number, the +-- GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). +-- Note that GPS time does not accumulate leap seconds, and as of now, has a +-- small offset from UTC. In a message stream, this message precedes a set of +-- other navigation messages referenced to the same time (but lacking the ns +-- field) and indicates a more precise time of these messages. +data MsgGpsTimeGnss = MsgGpsTimeGnss + { _msgGpsTimeGnss_wn :: !Word16 + -- ^ GPS week number + , _msgGpsTimeGnss_tow :: !Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgGpsTimeGnss_ns_residual :: !Int32 + -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to + -- 500000) + , _msgGpsTimeGnss_flags :: !Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgGpsTimeGnss where + get = do + _msgGpsTimeGnss_wn <- getWord16le + _msgGpsTimeGnss_tow <- getWord32le + _msgGpsTimeGnss_ns_residual <- (fromIntegral <$> getWord32le) + _msgGpsTimeGnss_flags <- getWord8 + pure MsgGpsTimeGnss {..} + + put MsgGpsTimeGnss {..} = do + putWord16le _msgGpsTimeGnss_wn + putWord32le _msgGpsTimeGnss_tow + (putWord32le . fromIntegral) _msgGpsTimeGnss_ns_residual + putWord8 _msgGpsTimeGnss_flags + +$(makeSBP 'msgGpsTimeGnss ''MsgGpsTimeGnss) +$(makeJSON "_msgGpsTimeGnss_" ''MsgGpsTimeGnss) +$(makeLenses ''MsgGpsTimeGnss) + msgUtcTime :: Word16 msgUtcTime = 0x0103 @@ -150,6 +194,63 @@ $(makeSBP 'msgUtcTime ''MsgUtcTime) $(makeJSON "_msgUtcTime_" ''MsgUtcTime) $(makeLenses ''MsgUtcTime) +msgUtcTimeGnss :: Word16 +msgUtcTimeGnss = 0x0105 + +-- | SBP class for message MSG_UTC_TIME_GNSS (0x0105). +-- +-- This message reports the Universal Coordinated Time (UTC). Note the flags +-- which indicate the source of the UTC offset value and source of the time +-- fix. +data MsgUtcTimeGnss = MsgUtcTimeGnss + { _msgUtcTimeGnss_flags :: !Word8 + -- ^ Indicates source and time validity + , _msgUtcTimeGnss_tow :: !Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgUtcTimeGnss_year :: !Word16 + -- ^ Year + , _msgUtcTimeGnss_month :: !Word8 + -- ^ Month (range 1 .. 12) + , _msgUtcTimeGnss_day :: !Word8 + -- ^ days in the month (range 1-31) + , _msgUtcTimeGnss_hours :: !Word8 + -- ^ hours of day (range 0-23) + , _msgUtcTimeGnss_minutes :: !Word8 + -- ^ minutes of hour (range 0-59) + , _msgUtcTimeGnss_seconds :: !Word8 + -- ^ seconds of minute (range 0-60) rounded down + , _msgUtcTimeGnss_ns :: !Word32 + -- ^ nanoseconds of second (range 0-999999999) + } deriving ( Show, Read, Eq ) + +instance Binary MsgUtcTimeGnss where + get = do + _msgUtcTimeGnss_flags <- getWord8 + _msgUtcTimeGnss_tow <- getWord32le + _msgUtcTimeGnss_year <- getWord16le + _msgUtcTimeGnss_month <- getWord8 + _msgUtcTimeGnss_day <- getWord8 + _msgUtcTimeGnss_hours <- getWord8 + _msgUtcTimeGnss_minutes <- getWord8 + _msgUtcTimeGnss_seconds <- getWord8 + _msgUtcTimeGnss_ns <- getWord32le + pure MsgUtcTimeGnss {..} + + put MsgUtcTimeGnss {..} = do + putWord8 _msgUtcTimeGnss_flags + putWord32le _msgUtcTimeGnss_tow + putWord16le _msgUtcTimeGnss_year + putWord8 _msgUtcTimeGnss_month + putWord8 _msgUtcTimeGnss_day + putWord8 _msgUtcTimeGnss_hours + putWord8 _msgUtcTimeGnss_minutes + putWord8 _msgUtcTimeGnss_seconds + putWord32le _msgUtcTimeGnss_ns + +$(makeSBP 'msgUtcTimeGnss ''MsgUtcTimeGnss) +$(makeJSON "_msgUtcTimeGnss_" ''MsgUtcTimeGnss) +$(makeLenses ''MsgUtcTimeGnss) + msgDops :: Word16 msgDops = 0x0208 diff --git a/haskell/src/SwiftNav/SBP/Observation.hs b/haskell/src/SwiftNav/SBP/Observation.hs index 4b6de57b50..abbee8abdc 100644 --- a/haskell/src/SwiftNav/SBP/Observation.hs +++ b/haskell/src/SwiftNav/SBP/Observation.hs @@ -930,9 +930,11 @@ data MsgEphemerisBds = MsgEphemerisBds , _msgEphemerisBds_toc :: !GpsTimeSec -- ^ Clock reference , _msgEphemerisBds_iode :: !Word8 - -- ^ Issue of ephemeris data + -- ^ Issue of ephemeris data Calculated from the navigation data parameter + -- t_oe per RTCM/CSNO recommendation: IODE = mod (t_oe / 720, 240) , _msgEphemerisBds_iodc :: !Word16 - -- ^ Issue of clock data + -- ^ Issue of clock data Calculated from the navigation data parameter t_oe + -- per RTCM/CSNO recommendation: IODE = mod (t_oc / 720, 240) } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisBds where @@ -1050,9 +1052,9 @@ data MsgEphemerisGalDepA = MsgEphemerisGalDepA , _msgEphemerisGalDepA_toc :: !GpsTimeSec -- ^ Clock reference , _msgEphemerisGalDepA_iode :: !Word16 - -- ^ Issue of ephemeris data + -- ^ Issue of data (IODnav) , _msgEphemerisGalDepA_iodc :: !Word16 - -- ^ Issue of clock data + -- ^ Issue of data (IODnav). Always equal to iode } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisGalDepA where @@ -1172,11 +1174,11 @@ data MsgEphemerisGal = MsgEphemerisGal , _msgEphemerisGal_toc :: !GpsTimeSec -- ^ Clock reference , _msgEphemerisGal_iode :: !Word16 - -- ^ Issue of ephemeris data + -- ^ Issue of data (IODnav) , _msgEphemerisGal_iodc :: !Word16 - -- ^ Issue of clock data + -- ^ Issue of data (IODnav). Always equal to iode , _msgEphemerisGal_source :: !Word8 - -- ^ 0=I/NAV, 1=F/NAV, ... + -- ^ 0=I/NAV, 1=F/NAV } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisGal where @@ -1534,7 +1536,7 @@ data MsgEphemerisGloDepD = MsgEphemerisGloDepD , _msgEphemerisGloDepD_fcn :: !Word8 -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid , _msgEphemerisGloDepD_iod :: !Word8 - -- ^ Issue of ephemeris data + -- ^ Issue of data. Equal to the 7 bits of the immediate data word t_b } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisGloDepD where @@ -1592,7 +1594,7 @@ data MsgEphemerisGlo = MsgEphemerisGlo , _msgEphemerisGlo_fcn :: !Word8 -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid , _msgEphemerisGlo_iod :: !Word8 - -- ^ Issue of ephemeris data + -- ^ Issue of data. Equal to the 7 bits of the immediate data word t_b } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisGlo where diff --git a/haskell/src/SwiftNav/SBP/System.hs b/haskell/src/SwiftNav/SBP/System.hs index 9d55350d86..63925cac3d 100644 --- a/haskell/src/SwiftNav/SBP/System.hs +++ b/haskell/src/SwiftNav/SBP/System.hs @@ -313,33 +313,29 @@ msgGroupMeta = 0xFF0A -- lists the atomic contents (i.e. types of messages included) of the Solution -- Group. data MsgGroupMeta = MsgGroupMeta - { _msgGroupMeta_wn :: !Word16 - -- ^ GPS Week Number or zero if Reference epoch is not GPS - , _msgGroupMeta_tom :: !Word32 - -- ^ Time of Measurement in Milliseconds since reference epoch - , _msgGroupMeta_ns_residual :: !Int32 - -- ^ Nanosecond residual of millisecond-rounded TOM (ranges from -500000 to - -- 500000) - , _msgGroupMeta_flags :: !Word8 + { _msgGroupMeta_group_id :: !Word8 + -- ^ Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss + , _msgGroupMeta_flags :: !Word8 -- ^ Status flags (reserved) + , _msgGroupMeta_n_group_msgs :: !Word8 + -- ^ Size of list group_msgs , _msgGroupMeta_group_msgs :: ![Word16] - -- ^ An inorder list of message types included in the Solution Group + -- ^ An inorder list of message types included in the Solution Group, + -- including GROUP_META itself } deriving ( Show, Read, Eq ) instance Binary MsgGroupMeta where get = do - _msgGroupMeta_wn <- getWord16le - _msgGroupMeta_tom <- getWord32le - _msgGroupMeta_ns_residual <- (fromIntegral <$> getWord32le) + _msgGroupMeta_group_id <- getWord8 _msgGroupMeta_flags <- getWord8 + _msgGroupMeta_n_group_msgs <- getWord8 _msgGroupMeta_group_msgs <- whileM (not <$> isEmpty) getWord16le pure MsgGroupMeta {..} put MsgGroupMeta {..} = do - putWord16le _msgGroupMeta_wn - putWord32le _msgGroupMeta_tom - (putWord32le . fromIntegral) _msgGroupMeta_ns_residual + putWord8 _msgGroupMeta_group_id putWord8 _msgGroupMeta_flags + putWord8 _msgGroupMeta_n_group_msgs mapM_ putWord16le _msgGroupMeta_group_msgs $(makeSBP 'msgGroupMeta ''MsgGroupMeta) diff --git a/java/src/com/swiftnav/sbp/client/MessageTable.java b/java/src/com/swiftnav/sbp/client/MessageTable.java index f71ef7eb32..21b7a8481e 100644 --- a/java/src/com/swiftnav/sbp/client/MessageTable.java +++ b/java/src/com/swiftnav/sbp/client/MessageTable.java @@ -62,7 +62,9 @@ import com.swiftnav.sbp.logging.MsgPrintDep; import com.swiftnav.sbp.mag.MsgMagRaw; import com.swiftnav.sbp.navigation.MsgGPSTime; +import com.swiftnav.sbp.navigation.MsgGPSTimeGnss; import com.swiftnav.sbp.navigation.MsgUtcTime; +import com.swiftnav.sbp.navigation.MsgUtcTimeGnss; import com.swiftnav.sbp.navigation.MsgDops; import com.swiftnav.sbp.navigation.MsgPosECEF; import com.swiftnav.sbp.navigation.MsgPosECEFCov; @@ -304,8 +306,12 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException { return new MsgMagRaw(msg); case MsgGPSTime.TYPE: return new MsgGPSTime(msg); + case MsgGPSTimeGnss.TYPE: + return new MsgGPSTimeGnss(msg); case MsgUtcTime.TYPE: return new MsgUtcTime(msg); + case MsgUtcTimeGnss.TYPE: + return new MsgUtcTimeGnss(msg); case MsgDops.TYPE: return new MsgDops(msg); case MsgPosECEF.TYPE: diff --git a/java/src/com/swiftnav/sbp/navigation/MsgGPSTimeGnss.java b/java/src/com/swiftnav/sbp/navigation/MsgGPSTimeGnss.java new file mode 100644 index 0000000000..96dba5b452 --- /dev/null +++ b/java/src/com/swiftnav/sbp/navigation/MsgGPSTimeGnss.java @@ -0,0 +1,97 @@ +/* + * Copyright (C) 2015-2018 Swift Navigation Inc. + * Contact: Swift Navigation + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +package com.swiftnav.sbp.navigation; + +import java.math.BigInteger; + +import com.swiftnav.sbp.SBPMessage; +import com.swiftnav.sbp.SBPBinaryException; +import com.swiftnav.sbp.SBPStruct; + +import org.json.JSONObject; +import org.json.JSONArray; + + +/** SBP class for message MSG_GPS_TIME_GNSS (0x0104). + * + * You can have MSG_GPS_TIME_GNSS inherent its fields directly from + * an inherited SBP object, or construct it inline using a dict of its + * fields. + * + * This message reports the GPS time, representing the time since + * the GPS epoch began on midnight January 6, 1980 UTC. GPS time + * counts the weeks and seconds of the week. The weeks begin at the + * Saturday/Sunday transition. GPS week 0 began at the beginning of + * the GPS time scale. + * + * Within each week number, the GPS time of the week is between + * between 0 and 604800 seconds (=60*60*24*7). Note that GPS time + * does not accumulate leap seconds, and as of now, has a small + * offset from UTC. In a message stream, this message precedes a + * set of other navigation messages referenced to the same time + * (but lacking the ns field) and indicates a more precise time of + * these messages. */ + +public class MsgGPSTimeGnss extends SBPMessage { + public static final int TYPE = 0x0104; + + + /** GPS week number */ + public int wn; + + /** GPS time of week rounded to the nearest millisecond */ + public long tow; + + /** Nanosecond residual of millisecond-rounded TOW (ranges +from -500000 to 500000) + */ + public int ns_residual; + + /** Status flags (reserved) */ + public int flags; + + + public MsgGPSTimeGnss (int sender) { super(sender, TYPE); } + public MsgGPSTimeGnss () { super(TYPE); } + public MsgGPSTimeGnss (SBPMessage msg) throws SBPBinaryException { + super(msg); + assert msg.type != TYPE; + } + + @Override + protected void parse(Parser parser) throws SBPBinaryException { + /* Parse fields from binary */ + wn = parser.getU16(); + tow = parser.getU32(); + ns_residual = parser.getS32(); + flags = parser.getU8(); + } + + @Override + protected void build(Builder builder) { + builder.putU16(wn); + builder.putU32(tow); + builder.putS32(ns_residual); + builder.putU8(flags); + } + + @Override + public JSONObject toJSON() { + JSONObject obj = super.toJSON(); + obj.put("wn", wn); + obj.put("tow", tow); + obj.put("ns_residual", ns_residual); + obj.put("flags", flags); + return obj; + } +} \ No newline at end of file diff --git a/java/src/com/swiftnav/sbp/navigation/MsgUtcTimeGnss.java b/java/src/com/swiftnav/sbp/navigation/MsgUtcTimeGnss.java new file mode 100644 index 0000000000..9fe707907f --- /dev/null +++ b/java/src/com/swiftnav/sbp/navigation/MsgUtcTimeGnss.java @@ -0,0 +1,114 @@ +/* + * Copyright (C) 2015-2018 Swift Navigation Inc. + * Contact: Swift Navigation + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +package com.swiftnav.sbp.navigation; + +import java.math.BigInteger; + +import com.swiftnav.sbp.SBPMessage; +import com.swiftnav.sbp.SBPBinaryException; +import com.swiftnav.sbp.SBPStruct; + +import org.json.JSONObject; +import org.json.JSONArray; + + +/** SBP class for message MSG_UTC_TIME_GNSS (0x0105). + * + * You can have MSG_UTC_TIME_GNSS inherent its fields directly from + * an inherited SBP object, or construct it inline using a dict of its + * fields. + * + * This message reports the Universal Coordinated Time (UTC). Note the flags + * which indicate the source of the UTC offset value and source of the time fix. */ + +public class MsgUtcTimeGnss extends SBPMessage { + public static final int TYPE = 0x0105; + + + /** Indicates source and time validity */ + public int flags; + + /** GPS time of week rounded to the nearest millisecond */ + public long tow; + + /** Year */ + public int year; + + /** Month (range 1 .. 12) */ + public int month; + + /** days in the month (range 1-31) */ + public int day; + + /** hours of day (range 0-23) */ + public int hours; + + /** minutes of hour (range 0-59) */ + public int minutes; + + /** seconds of minute (range 0-60) rounded down */ + public int seconds; + + /** nanoseconds of second (range 0-999999999) */ + public long ns; + + + public MsgUtcTimeGnss (int sender) { super(sender, TYPE); } + public MsgUtcTimeGnss () { super(TYPE); } + public MsgUtcTimeGnss (SBPMessage msg) throws SBPBinaryException { + super(msg); + assert msg.type != TYPE; + } + + @Override + protected void parse(Parser parser) throws SBPBinaryException { + /* Parse fields from binary */ + flags = parser.getU8(); + tow = parser.getU32(); + year = parser.getU16(); + month = parser.getU8(); + day = parser.getU8(); + hours = parser.getU8(); + minutes = parser.getU8(); + seconds = parser.getU8(); + ns = parser.getU32(); + } + + @Override + protected void build(Builder builder) { + builder.putU8(flags); + builder.putU32(tow); + builder.putU16(year); + builder.putU8(month); + builder.putU8(day); + builder.putU8(hours); + builder.putU8(minutes); + builder.putU8(seconds); + builder.putU32(ns); + } + + @Override + public JSONObject toJSON() { + JSONObject obj = super.toJSON(); + obj.put("flags", flags); + obj.put("tow", tow); + obj.put("year", year); + obj.put("month", month); + obj.put("day", day); + obj.put("hours", hours); + obj.put("minutes", minutes); + obj.put("seconds", seconds); + obj.put("ns", ns); + return obj; + } +} \ No newline at end of file diff --git a/java/src/com/swiftnav/sbp/observation/MsgEphemerisBds.java b/java/src/com/swiftnav/sbp/observation/MsgEphemerisBds.java index 62eaded454..72be637995 100644 --- a/java/src/com/swiftnav/sbp/observation/MsgEphemerisBds.java +++ b/java/src/com/swiftnav/sbp/observation/MsgEphemerisBds.java @@ -104,10 +104,18 @@ public class MsgEphemerisBds extends SBPMessage { /** Clock reference */ public GPSTimeSec toc; - /** Issue of ephemeris data */ + /** Issue of ephemeris data + +Calculated from the navigation data parameter t_oe per RTCM/CSNO recommendation: +IODE = mod (t_oe / 720, 240) + */ public int iode; - /** Issue of clock data */ + /** Issue of clock data + +Calculated from the navigation data parameter t_oe per RTCM/CSNO recommendation: +IODE = mod (t_oc / 720, 240) + */ public int iodc; diff --git a/java/src/com/swiftnav/sbp/observation/MsgEphemerisGal.java b/java/src/com/swiftnav/sbp/observation/MsgEphemerisGal.java index 19210534d6..d1096e5198 100644 --- a/java/src/com/swiftnav/sbp/observation/MsgEphemerisGal.java +++ b/java/src/com/swiftnav/sbp/observation/MsgEphemerisGal.java @@ -104,13 +104,13 @@ public class MsgEphemerisGal extends SBPMessage { /** Clock reference */ public GPSTimeSec toc; - /** Issue of ephemeris data */ + /** Issue of data (IODnav) */ public int iode; - /** Issue of clock data */ + /** Issue of data (IODnav). Always equal to iode */ public int iodc; - /** 0=I/NAV, 1=F/NAV, ... */ + /** 0=I/NAV, 1=F/NAV */ public int source; diff --git a/java/src/com/swiftnav/sbp/observation/MsgEphemerisGalDepA.java b/java/src/com/swiftnav/sbp/observation/MsgEphemerisGalDepA.java index 442d782490..0b51bd4391 100644 --- a/java/src/com/swiftnav/sbp/observation/MsgEphemerisGalDepA.java +++ b/java/src/com/swiftnav/sbp/observation/MsgEphemerisGalDepA.java @@ -102,10 +102,10 @@ public class MsgEphemerisGalDepA extends SBPMessage { /** Clock reference */ public GPSTimeSec toc; - /** Issue of ephemeris data */ + /** Issue of data (IODnav) */ public int iode; - /** Issue of clock data */ + /** Issue of data (IODnav). Always equal to iode */ public int iodc; diff --git a/java/src/com/swiftnav/sbp/observation/MsgEphemerisGlo.java b/java/src/com/swiftnav/sbp/observation/MsgEphemerisGlo.java index b5beee0882..450a669f6a 100644 --- a/java/src/com/swiftnav/sbp/observation/MsgEphemerisGlo.java +++ b/java/src/com/swiftnav/sbp/observation/MsgEphemerisGlo.java @@ -63,7 +63,7 @@ public class MsgEphemerisGlo extends SBPMessage { /** Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid */ public int fcn; - /** Issue of ephemeris data */ + /** Issue of data. Equal to the 7 bits of the immediate data word t_b */ public int iod; diff --git a/java/src/com/swiftnav/sbp/observation/MsgEphemerisGloDepD.java b/java/src/com/swiftnav/sbp/observation/MsgEphemerisGloDepD.java index b37ed9c234..ae1b2a5aeb 100644 --- a/java/src/com/swiftnav/sbp/observation/MsgEphemerisGloDepD.java +++ b/java/src/com/swiftnav/sbp/observation/MsgEphemerisGloDepD.java @@ -60,7 +60,7 @@ public class MsgEphemerisGloDepD extends SBPMessage { /** Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid */ public int fcn; - /** Issue of ephemeris data */ + /** Issue of data. Equal to the 7 bits of the immediate data word t_b */ public int iod; diff --git a/java/src/com/swiftnav/sbp/system/MsgGroupMeta.java b/java/src/com/swiftnav/sbp/system/MsgGroupMeta.java index fbb00fad2e..f597353437 100644 --- a/java/src/com/swiftnav/sbp/system/MsgGroupMeta.java +++ b/java/src/com/swiftnav/sbp/system/MsgGroupMeta.java @@ -35,21 +35,17 @@ public class MsgGroupMeta extends SBPMessage { public static final int TYPE = 0xFF0A; - /** GPS Week Number or zero if Reference epoch is not GPS */ - public int wn; - - /** Time of Measurement in Milliseconds since reference epoch */ - public long tom; - - /** Nanosecond residual of millisecond-rounded TOM (ranges -from -500000 to 500000) - */ - public int ns_residual; + /** Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss */ + public int group_id; /** Status flags (reserved) */ public int flags; - /** An inorder list of message types included in the Solution Group */ + /** Size of list group_msgs */ + public int n_group_msgs; + + /** An inorder list of message types included in the Solution Group, +including GROUP_META itself */ public int[] group_msgs; @@ -63,29 +59,26 @@ public MsgGroupMeta (SBPMessage msg) throws SBPBinaryException { @Override protected void parse(Parser parser) throws SBPBinaryException { /* Parse fields from binary */ - wn = parser.getU16(); - tom = parser.getU32(); - ns_residual = parser.getS32(); + group_id = parser.getU8(); flags = parser.getU8(); + n_group_msgs = parser.getU8(); group_msgs = parser.getArrayofU16(); } @Override protected void build(Builder builder) { - builder.putU16(wn); - builder.putU32(tom); - builder.putS32(ns_residual); + builder.putU8(group_id); builder.putU8(flags); + builder.putU8(n_group_msgs); builder.putArrayofU16(group_msgs); } @Override public JSONObject toJSON() { JSONObject obj = super.toJSON(); - obj.put("wn", wn); - obj.put("tom", tom); - obj.put("ns_residual", ns_residual); + obj.put("group_id", group_id); obj.put("flags", flags); + obj.put("n_group_msgs", n_group_msgs); obj.put("group_msgs", new JSONArray(group_msgs)); return obj; } diff --git a/javascript/sbp.bundle.js b/javascript/sbp.bundle.js index f86b554aa6..f94bd9d004 100644 --- a/javascript/sbp.bundle.js +++ b/javascript/sbp.bundle.js @@ -1,15 +1,15 @@ -!function(e){var t={};function r(p){if(t[p])return t[p].exports;var o=t[p]={i:p,l:!1,exports:{}};return e[p].call(o.exports,o,o.exports,r),o.l=!0,o.exports}r.m=e,r.c=t,r.d=function(e,t,p){r.o(e,t)||Object.defineProperty(e,t,{enumerable:!0,get:p})},r.r=function(e){"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(e,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(e,"__esModule",{value:!0})},r.t=function(e,t){if(1&t&&(e=r(e)),8&t)return e;if(4&t&&"object"==typeof e&&e&&e.__esModule)return e;var p=Object.create(null);if(r.r(p),Object.defineProperty(p,"default",{enumerable:!0,value:e}),2&t&&"string"!=typeof e)for(var o in e)r.d(p,o,function(t){return e[t]}.bind(null,o));return 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t=e.generateVariable(this.varName);switch(typeof this.options.assert){case"function":e.pushCode("if (!({0}).call(vars, {1})) {",this.options.assert,t);break;case"number":e.pushCode("if ({0} !== {1}) {",this.options.assert,t);break;case"string":e.pushCode('if ("{0}" !== {1}) {',this.options.assert,t);break;default:throw new Error("Assert option supports only strings, numbers and assert functions.")}e.generateError('"Assert error: {0} is " + {0}',t),e.pushCode("}")}},n.prototype.generateNext=function(e){return this.next&&(e=this.next.generate(e)),e},Object.keys(o).forEach((function(e){n.prototype["generate"+e]=function(t){t.pushCode("{0} = buffer.read{1}(offset);",t.generateVariable(this.varName),e),t.pushCode("offset += {0};",o[e])}})),n.prototype.generateBit=function(e){var t=JSON.parse(JSON.stringify(this));if(t.varName=e.generateVariable(t.varName),e.bitFields.push(t),!this.next||this.next&&["Bit","Nest"].indexOf(this.next.type)<0){var r=0;e.bitFields.forEach((function(e){r+=e.options.length}));var p=e.generateTmpVariable();if(r<=8)e.pushCode("var {0} = buffer.readUInt8(offset);",p),r=8;else if(r<=16)e.pushCode("var {0} = buffer.readUInt16BE(offset);",p),r=16;else if(r<=24){var o=e.generateTmpVariable(),i=e.generateTmpVariable();e.pushCode("var {0} = buffer.readUInt16BE(offset);",o),e.pushCode("var {0} = buffer.readUInt8(offset + 2);",i),e.pushCode("var {2} = ({0} << 8) | {1};",o,i,p),r=24}else{if(!(r<=32))throw new Error("Currently, bit field sequence longer than 4-bytes is not supported.");e.pushCode("var {0} = buffer.readUInt32BE(offset);",p),r=32}e.pushCode("offset += {0};",r/8);var s=0,n="be"===this.endian;e.bitFields.forEach((function(t){e.pushCode("{0} = {1} >> {2} & {3};",t.varName,p,n?r-s-t.options.length:s,(1< offset++);"),e.pushCode("{0} = buffer.toString('{1}', {2}, offset);",t,this.options.encoding,r)),this.options.stripNull&&e.pushCode("{0} = {0}.replace(/\\x00+$/g, 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p.call(this,e),this.messageType="MSG_NAP_DEVICE_DNA_RESP",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(p.prototype)).messageType="MSG_NAP_DEVICE_DNA_RESP",l.prototype.msg_type=221,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").array("dna",{length:8,type:"uint8"}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["dna","array","writeUInt8",function(){return 1},8]);var c=function(e,t){return p.call(this,e),this.messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_BOOTLOADER_HANDSHAKE_DEP_A",c.prototype.msg_type=176,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").array("handshake",{type:"uint8",readUntil:"eof"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["handshake","array","writeUInt8",function(){return 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p.call(this,e),this.messageType="MSG_STM_FLASH_LOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_STM_FLASH_LOCK_SECTOR",c.prototype.msg_type=227,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("sector"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["sector","writeUInt32LE",4]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_STM_FLASH_UNLOCK_SECTOR",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_STM_FLASH_UNLOCK_SECTOR",u.prototype.msg_type=228,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint32("sector"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["sector","writeUInt32LE",4]);var y=function(e,t){return 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p.call(this,e),this.messageType="MSG_LINUX_SOCKET_USAGE",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_SOCKET_USAGE",c.prototype.msg_type=32517,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint32("avg_queue_depth").uint32("max_queue_depth").array("socket_state_counts",{length:16,type:"uint16le"}).array("socket_type_counts",{length:16,type:"uint16le"}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["avg_queue_depth","writeUInt32LE",4]),c.prototype.fieldSpec.push(["max_queue_depth","writeUInt32LE",4]),c.prototype.fieldSpec.push(["socket_state_counts","array","writeUInt16LE",function(){return 2},16]),c.prototype.fieldSpec.push(["socket_type_counts","array","writeUInt16LE",function(){return 2},16]);var u=function(e,t){return p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_COUNT",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_FD_COUNT",u.prototype.msg_type=32518,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint8("index").uint16("pid").uint16("fd_count").string("cmdline",{greedy:!0}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["index","writeUInt8",1]),u.prototype.fieldSpec.push(["pid","writeUInt16LE",2]),u.prototype.fieldSpec.push(["fd_count","writeUInt16LE",2]),u.prototype.fieldSpec.push(["cmdline","string",null]);var y=function(e,t){return p.call(this,e),this.messageType="MSG_LINUX_PROCESS_FD_SUMMARY",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(p.prototype)).messageType="MSG_LINUX_PROCESS_FD_SUMMARY",y.prototype.msg_type=32519,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").uint32("sys_fd_count").string("most_opened",{greedy:!0}),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sys_fd_count","writeUInt32LE",4]),y.prototype.fieldSpec.push(["most_opened","string",null]),e.exports={32512:i,MsgLinuxCpuState:i,32513:s,MsgLinuxMemState:s,32514:n,MsgLinuxSysState:n,32515:a,MsgLinuxProcessSocketCounts:a,32516:l,MsgLinuxProcessSocketQueues:l,32517:c,MsgLinuxSocketUsage:c,32518:u,MsgLinuxProcessFdCount:u,32519:y,MsgLinuxProcessFdSummary:y}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_LOG",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_LOG",i.prototype.msg_type=1025,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint8("level").string("text",{greedy:!0}),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["level","writeUInt8",1]),i.prototype.fieldSpec.push(["text","string",null]);var s=function(e,t){return p.call(this,e),this.messageType="MSG_FWD",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_FWD",s.prototype.msg_type=1026,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("source").uint8("protocol").string("fwd_payload",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["source","writeUInt8",1]),s.prototype.fieldSpec.push(["protocol","writeUInt8",1]),s.prototype.fieldSpec.push(["fwd_payload","string",null]);var n=function(e,t){return p.call(this,e),this.messageType="MSG_PRINT_DEP",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(p.prototype)).messageType="MSG_PRINT_DEP",n.prototype.msg_type=16,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").string("text",{greedy:!0}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["text","string",null]),e.exports={1025:i,MsgLog:i,1026:s,MsgFwd:s,16:n,MsgPrintDep:n}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,function(e,t){return p.call(this,e),this.messageType="MSG_MAG_RAW",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(p.prototype)).messageType="MSG_MAG_RAW",i.prototype.msg_type=2306,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").uint8("tow_f").int16("mag_x").int16("mag_y").int16("mag_z"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["tow_f","writeUInt8",1]),i.prototype.fieldSpec.push(["mag_x","writeInt16LE",2]),i.prototype.fieldSpec.push(["mag_y","writeInt16LE",2]),i.prototype.fieldSpec.push(["mag_z","writeInt16LE",2]),e.exports={2306:i,MsgMagRaw:i}},function(e,t,r){var 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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.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 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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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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 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o).endianess("little").array("rf_gain",{length:8,type:"int8"}).array("if_gain",{length:8,type:"int8"}),j.prototype.fieldSpec=[],j.prototype.fieldSpec.push(["rf_gain","array","writeInt8",function(){return 1},8]),j.prototype.fieldSpec.push(["if_gain","array","writeInt8",function(){return 1},8]),e.exports={105:l,MsgAlmanac:l,104:c,MsgSetTime:c,182:u,MsgReset:u,178:y,MsgResetDep:y,192:h,MsgCwResults:h,193:f,MsgCwStart:f,34:d,MsgResetFilters:d,35:_,MsgInitBaseDep:_,23:S,MsgThreadState:S,UARTChannel:g,Period:w,Latency:E,29:m,MsgUartState:m,24:b,MsgUartStateDepa:b,25:v,MsgIarState:v,43:L,MsgMaskSatellite:L,27:I,MsgMaskSatelliteDep:I,181:T,MsgDeviceMonitor:T,184:M,MsgCommandReq:M,185:U,MsgCommandResp:U,188:D,MsgCommandOutput:D,186:O,MsgNetworkStateReq:O,187:G,MsgNetworkStateResp:G,NetworkUsage:A,189:R,MsgNetworkBandwidthUsage:R,190:C,MsgCellModemStatus:C,80:P,MsgSpecanDep:P,81:N,MsgSpecan:N,191:j,MsgFrontEndGain:j}},function(e,t,r){var 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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]);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]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_GROUP_META",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_GROUP_META",h.prototype.msg_type=65290,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").uint16("wn").uint32("tom").int32("ns_residual").uint8("flags").array("group_msgs",{type:"uint16le",readUntil:"eof"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["wn","writeUInt16LE",2]),h.prototype.fieldSpec.push(["tom","writeUInt32LE",4]),h.prototype.fieldSpec.push(["ns_residual","writeInt32LE",4]),h.prototype.fieldSpec.push(["flags","writeUInt8",1]),h.prototype.fieldSpec.push(["group_msgs","array","writeUInt16LE",function(){return 2},null]),e.exports={65280:i,MsgStartup:i,65282:s,MsgDgnssStatus:s,65535:n,MsgHeartbeat:n,65283:a,MsgInsStatus:a,65284:l,MsgCsacTelemetry:l,65285:c,MsgCsacTelemetryLabels:c,65286:u,MsgInsUpdates:u,65287:y,MsgGnssTimeOffset:y,65290:h,MsgGroupMeta:h}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=r(0).GnssSignalDep,n=r(0).GPSTime,a=r(0).CarrierPhase,l=(n=r(0).GPSTime,r(0).GPSTimeSec,r(0).GPSTimeDep),c=(r(0).SvId,function(e,t){return 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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 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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_GPS_TIME_GNSS",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(p.prototype)).messageType="MSG_GPS_TIME_GNSS",s.prototype.msg_type=260,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 S=function(e,t){return p.call(this,e),this.messageType="MSG_INIT_BASE_DEP",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="MSG_INIT_BASE_DEP",S.prototype.msg_type=35,S.prototype.constructor=S,S.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 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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 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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:_.prototype.parser}),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["header",u.prototype.fieldSpec]),I.prototype.fieldSpec.push(["element",_.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:S,GridElementNoStd:_,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]);var h=function(e,t){return p.call(this,e),this.messageType="MSG_GROUP_META",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(p.prototype)).messageType="MSG_GROUP_META",h.prototype.msg_type=65290,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").uint8("group_id").uint8("flags").uint8("n_group_msgs").array("group_msgs",{type:"uint16le",readUntil:"eof"}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["group_id","writeUInt8",1]),h.prototype.fieldSpec.push(["flags","writeUInt8",1]),h.prototype.fieldSpec.push(["n_group_msgs","writeUInt8",1]),h.prototype.fieldSpec.push(["group_msgs","array","writeUInt16LE",function(){return 2},null]),e.exports={65280:i,MsgStartup:i,65282:s,MsgDgnssStatus:s,65535:n,MsgHeartbeat:n,65283:a,MsgInsStatus:a,65284:l,MsgCsacTelemetry:l,65285:c,MsgCsacTelemetryLabels:c,65286:u,MsgInsUpdates:u,65287:y,MsgGnssTimeOffset:y,65290:h,MsgGroupMeta:h}},function(e,t,r){var p=r(2),o=r(4),i=(r(3),r(1).UINT64,r(0).GnssSignal),s=r(0).GnssSignalDep,n=r(0).GPSTime,a=r(0).CarrierPhase,l=(n=r(0).GPSTime,r(0).GPSTimeSec,r(0).GPSTimeDep),c=(r(0).SvId,function(e,t){return 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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 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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 S=function(e,t){return p.call(this,e),this.messageType="TrackingChannelCorrelation",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(p.prototype)).messageType="TrackingChannelCorrelation",S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").int16("I").int16("Q"),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["I","writeInt16LE",2]),S.prototype.fieldSpec.push(["Q","writeInt16LE",2]);var _=function(e,t){return p.call(this,e),this.messageType="MSG_TRACKING_IQ",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(p.prototype)).messageType="MSG_TRACKING_IQ",_.prototype.msg_type=45,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").uint8("channel").nest("sid",{type:i.prototype.parser}).array("corrs",{length:3,type:S.prototype.parser}),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["channel","writeUInt8",1]),_.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),_.prototype.fieldSpec.push(["corrs","array",S.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:S,45:_,MsgTrackingIq:_,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/navigation.js b/javascript/sbp/navigation.js index 8f8f9cc90c..015fd45f55 100644 --- a/javascript/sbp/navigation.js +++ b/javascript/sbp/navigation.js @@ -80,6 +80,50 @@ MsgGpsTime.prototype.fieldSpec.push(['tow', 'writeUInt32LE', 4]); MsgGpsTime.prototype.fieldSpec.push(['ns_residual', 'writeInt32LE', 4]); MsgGpsTime.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); +/** + * SBP class for message MSG_GPS_TIME_GNSS (0x0104). + * + * This message reports the GPS time, representing the time since the GPS epoch + * began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds of + * the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 began at + * the beginning of the GPS time scale. Within each week number, the GPS time of + * the week is between between 0 and 604800 seconds (=60*60*24*7). Note that GPS + * time does not accumulate leap seconds, and as of now, has a small offset from + * UTC. In a message stream, this message precedes a set of other navigation + * messages referenced to the same time (but lacking the ns field) and indicates a + * more precise time of these messages. + * + * Fields in the SBP payload (`sbp.payload`): + * @field wn number (unsigned 16-bit int, 2 bytes) GPS week number + * @field tow number (unsigned 32-bit int, 4 bytes) GPS time of week rounded to the nearest millisecond + * @field ns_residual number (signed 32-bit int, 4 bytes) Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000) + * @field flags number (unsigned 8-bit int, 1 byte) Status flags (reserved) + * + * @param sbp An SBP object with a payload to be decoded. + */ +var MsgGpsTimeGnss = function (sbp, fields) { + SBP.call(this, sbp); + this.messageType = "MSG_GPS_TIME_GNSS"; + this.fields = (fields || this.parser.parse(sbp.payload)); + + return this; +}; +MsgGpsTimeGnss.prototype = Object.create(SBP.prototype); +MsgGpsTimeGnss.prototype.messageType = "MSG_GPS_TIME_GNSS"; +MsgGpsTimeGnss.prototype.msg_type = 0x0104; +MsgGpsTimeGnss.prototype.constructor = MsgGpsTimeGnss; +MsgGpsTimeGnss.prototype.parser = new Parser() + .endianess('little') + .uint16('wn') + .uint32('tow') + .int32('ns_residual') + .uint8('flags'); +MsgGpsTimeGnss.prototype.fieldSpec = []; +MsgGpsTimeGnss.prototype.fieldSpec.push(['wn', 'writeUInt16LE', 2]); +MsgGpsTimeGnss.prototype.fieldSpec.push(['tow', 'writeUInt32LE', 4]); +MsgGpsTimeGnss.prototype.fieldSpec.push(['ns_residual', 'writeInt32LE', 4]); +MsgGpsTimeGnss.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); + /** * SBP class for message MSG_UTC_TIME (0x0103). * @@ -132,6 +176,58 @@ MsgUtcTime.prototype.fieldSpec.push(['minutes', 'writeUInt8', 1]); MsgUtcTime.prototype.fieldSpec.push(['seconds', 'writeUInt8', 1]); MsgUtcTime.prototype.fieldSpec.push(['ns', 'writeUInt32LE', 4]); +/** + * SBP class for message MSG_UTC_TIME_GNSS (0x0105). + * + * This message reports the Universal Coordinated Time (UTC). Note the flags which + * indicate the source of the UTC offset value and source of the time fix. + * + * Fields in the SBP payload (`sbp.payload`): + * @field flags number (unsigned 8-bit int, 1 byte) Indicates source and time validity + * @field tow number (unsigned 32-bit int, 4 bytes) GPS time of week rounded to the nearest millisecond + * @field year number (unsigned 16-bit int, 2 bytes) Year + * @field month number (unsigned 8-bit int, 1 byte) Month (range 1 .. 12) + * @field day number (unsigned 8-bit int, 1 byte) days in the month (range 1-31) + * @field hours number (unsigned 8-bit int, 1 byte) hours of day (range 0-23) + * @field minutes number (unsigned 8-bit int, 1 byte) minutes of hour (range 0-59) + * @field seconds number (unsigned 8-bit int, 1 byte) seconds of minute (range 0-60) rounded down + * @field ns number (unsigned 32-bit int, 4 bytes) nanoseconds of second (range 0-999999999) + * + * @param sbp An SBP object with a payload to be decoded. + */ +var MsgUtcTimeGnss = function (sbp, fields) { + SBP.call(this, sbp); + this.messageType = "MSG_UTC_TIME_GNSS"; + this.fields = (fields || this.parser.parse(sbp.payload)); + + return this; +}; +MsgUtcTimeGnss.prototype = Object.create(SBP.prototype); +MsgUtcTimeGnss.prototype.messageType = "MSG_UTC_TIME_GNSS"; +MsgUtcTimeGnss.prototype.msg_type = 0x0105; +MsgUtcTimeGnss.prototype.constructor = MsgUtcTimeGnss; +MsgUtcTimeGnss.prototype.parser = new Parser() + .endianess('little') + .uint8('flags') + .uint32('tow') + .uint16('year') + .uint8('month') + .uint8('day') + .uint8('hours') + .uint8('minutes') + .uint8('seconds') + .uint32('ns'); +MsgUtcTimeGnss.prototype.fieldSpec = []; +MsgUtcTimeGnss.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); +MsgUtcTimeGnss.prototype.fieldSpec.push(['tow', 'writeUInt32LE', 4]); +MsgUtcTimeGnss.prototype.fieldSpec.push(['year', 'writeUInt16LE', 2]); +MsgUtcTimeGnss.prototype.fieldSpec.push(['month', 'writeUInt8', 1]); +MsgUtcTimeGnss.prototype.fieldSpec.push(['day', 'writeUInt8', 1]); +MsgUtcTimeGnss.prototype.fieldSpec.push(['hours', 'writeUInt8', 1]); +MsgUtcTimeGnss.prototype.fieldSpec.push(['minutes', 'writeUInt8', 1]); +MsgUtcTimeGnss.prototype.fieldSpec.push(['seconds', 'writeUInt8', 1]); +MsgUtcTimeGnss.prototype.fieldSpec.push(['ns', 'writeUInt32LE', 4]); + /** * SBP class for message MSG_DOPS (0x0208). * @@ -1776,8 +1872,12 @@ MsgProtectionLevel.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); module.exports = { 0x0102: MsgGpsTime, MsgGpsTime: MsgGpsTime, + 0x0104: MsgGpsTimeGnss, + MsgGpsTimeGnss: MsgGpsTimeGnss, 0x0103: MsgUtcTime, MsgUtcTime: MsgUtcTime, + 0x0105: MsgUtcTimeGnss, + MsgUtcTimeGnss: MsgUtcTimeGnss, 0x0208: MsgDops, MsgDops: MsgDops, 0x0209: MsgPosEcef, diff --git a/javascript/sbp/observation.js b/javascript/sbp/observation.js index 34972c9a30..a951e4b12b 100644 --- a/javascript/sbp/observation.js +++ b/javascript/sbp/observation.js @@ -839,8 +839,10 @@ MsgEphemerisQzss.prototype.fieldSpec.push(['iodc', 'writeUInt16LE', 2]); * @field af1 number (float, 4 bytes) Polynomial clock correction coefficient (clock drift) * @field af2 number (float, 4 bytes) Polynomial clock correction coefficient (rate of clock drift) * @field toc GPSTimeSec Clock reference - * @field iode number (unsigned 8-bit int, 1 byte) Issue of ephemeris data - * @field iodc number (unsigned 16-bit int, 2 bytes) Issue of clock data + * @field iode number (unsigned 8-bit int, 1 byte) Issue of ephemeris data Calculated from the navigation data parameter t_oe per + * RTCM/CSNO recommendation: IODE = mod (t_oe / 720, 240) + * @field iodc number (unsigned 16-bit int, 2 bytes) Issue of clock data Calculated from the navigation data parameter t_oe per + * RTCM/CSNO recommendation: IODE = mod (t_oc / 720, 240) * * @param sbp An SBP object with a payload to be decoded. */ @@ -936,8 +938,8 @@ MsgEphemerisBds.prototype.fieldSpec.push(['iodc', 'writeUInt16LE', 2]); * @field af1 number (float, 8 bytes) Polynomial clock correction coefficient (clock drift) * @field af2 number (float, 4 bytes) Polynomial clock correction coefficient (rate of clock drift) * @field toc GPSTimeSec Clock reference - * @field iode number (unsigned 16-bit int, 2 bytes) Issue of ephemeris data - * @field iodc number (unsigned 16-bit int, 2 bytes) Issue of clock data + * @field iode number (unsigned 16-bit int, 2 bytes) Issue of data (IODnav) + * @field iodc number (unsigned 16-bit int, 2 bytes) Issue of data (IODnav). Always equal to iode * * @param sbp An SBP object with a payload to be decoded. */ @@ -1034,9 +1036,9 @@ MsgEphemerisGalDepA.prototype.fieldSpec.push(['iodc', 'writeUInt16LE', 2]); * @field af1 number (float, 8 bytes) Polynomial clock correction coefficient (clock drift) * @field af2 number (float, 4 bytes) Polynomial clock correction coefficient (rate of clock drift) * @field toc GPSTimeSec Clock reference - * @field iode number (unsigned 16-bit int, 2 bytes) Issue of ephemeris data - * @field iodc number (unsigned 16-bit int, 2 bytes) Issue of clock data - * @field source number (unsigned 8-bit int, 1 byte) 0=I/NAV, 1=F/NAV, ... + * @field iode number (unsigned 16-bit int, 2 bytes) Issue of data (IODnav) + * @field iodc number (unsigned 16-bit int, 2 bytes) Issue of data (IODnav). Always equal to iode + * @field source number (unsigned 8-bit int, 1 byte) 0=I/NAV, 1=F/NAV * * @param sbp An SBP object with a payload to be decoded. */ @@ -1386,7 +1388,7 @@ MsgEphemerisGloDepC.prototype.fieldSpec.push(['fcn', 'writeUInt8', 1]); * @field vel array Velocity vector of the SV at tb in PZ-90.02 coordinates system * @field acc array Acceleration vector of the SV at tb in PZ-90.02 coordinates sys * @field fcn number (unsigned 8-bit int, 1 byte) Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid - * @field iod number (unsigned 8-bit int, 1 byte) Issue of ephemeris data + * @field iod number (unsigned 8-bit int, 1 byte) Issue of data. Equal to the 7 bits of the immediate data word t_b * * @param sbp An SBP object with a payload to be decoded. */ @@ -1440,7 +1442,7 @@ MsgEphemerisGloDepD.prototype.fieldSpec.push(['iod', 'writeUInt8', 1]); * @field vel array Velocity vector of the SV at tb in PZ-90.02 coordinates system * @field acc array Acceleration vector of the SV at tb in PZ-90.02 coordinates sys * @field fcn number (unsigned 8-bit int, 1 byte) Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid - * @field iod number (unsigned 8-bit int, 1 byte) Issue of ephemeris data + * @field iod number (unsigned 8-bit int, 1 byte) Issue of data. Equal to the 7 bits of the immediate data word t_b * * @param sbp An SBP object with a payload to be decoded. */ diff --git a/javascript/sbp/system.js b/javascript/sbp/system.js index b091dbdf45..71a7dffaa8 100644 --- a/javascript/sbp/system.js +++ b/javascript/sbp/system.js @@ -313,11 +313,11 @@ MsgGnssTimeOffset.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); * Group. * * Fields in the SBP payload (`sbp.payload`): - * @field wn number (unsigned 16-bit int, 2 bytes) GPS Week Number or zero if Reference epoch is not GPS - * @field tom number (unsigned 32-bit int, 4 bytes) Time of Measurement in Milliseconds since reference epoch - * @field ns_residual number (signed 32-bit int, 4 bytes) Nanosecond residual of millisecond-rounded TOM (ranges from -500000 to 500000) + * @field group_id number (unsigned 8-bit int, 1 byte) Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss * @field flags number (unsigned 8-bit int, 1 byte) Status flags (reserved) - * @field group_msgs array An inorder list of message types included in the Solution Group + * @field n_group_msgs number (unsigned 8-bit int, 1 byte) Size of list group_msgs + * @field group_msgs array An inorder list of message types included in the Solution Group, including + * GROUP_META itself * * @param sbp An SBP object with a payload to be decoded. */ @@ -334,16 +334,14 @@ MsgGroupMeta.prototype.msg_type = 0xFF0A; MsgGroupMeta.prototype.constructor = MsgGroupMeta; MsgGroupMeta.prototype.parser = new Parser() .endianess('little') - .uint16('wn') - .uint32('tom') - .int32('ns_residual') + .uint8('group_id') .uint8('flags') + .uint8('n_group_msgs') .array('group_msgs', { type: 'uint16le', readUntil: 'eof' }); MsgGroupMeta.prototype.fieldSpec = []; -MsgGroupMeta.prototype.fieldSpec.push(['wn', 'writeUInt16LE', 2]); -MsgGroupMeta.prototype.fieldSpec.push(['tom', 'writeUInt32LE', 4]); -MsgGroupMeta.prototype.fieldSpec.push(['ns_residual', 'writeInt32LE', 4]); +MsgGroupMeta.prototype.fieldSpec.push(['group_id', 'writeUInt8', 1]); MsgGroupMeta.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); +MsgGroupMeta.prototype.fieldSpec.push(['n_group_msgs', 'writeUInt8', 1]); MsgGroupMeta.prototype.fieldSpec.push(['group_msgs', 'array', 'writeUInt16LE', function () { return 2; }, null]); module.exports = { diff --git a/jsonschema/MsgGPSTimeGnss.json b/jsonschema/MsgGPSTimeGnss.json new file mode 100644 index 0000000000..afa86176a5 --- /dev/null +++ b/jsonschema/MsgGPSTimeGnss.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": "#MsgGPSTimeGnss", + "title":"MsgGPSTimeGnss", + "description":"This message reports the GPS time, representing the time since,\nthe GPS epoch began on midnight January 6, 1980 UTC. GPS time,\ncounts the weeks and seconds of the week. The weeks begin at the,\nSaturday/Sunday transition. GPS week 0 began at the beginning of,\nthe GPS time scale.,\n,\nWithin each week number, the GPS time of the week is between,\nbetween 0 and 604800 seconds (=60*60*24*7). Note that GPS time,\ndoes not accumulate leap seconds, and as of now, has a small,\noffset from UTC. In a message stream, this message precedes a,\nset of other navigation messages referenced to the same time,\n(but lacking the ns field) and indicates a more precise time of,\nthese messages.\n", + "type": "object", + "properties": { + "wn": {"type": "integer"}, + "tow": {"type": "integer"}, + "ns_residual": {"type": "integer"}, + "flags": {"type": "integer"} + }, + "required": [ + "wn", + "tow", + "ns_residual", + "flags" + ] +} \ No newline at end of file diff --git a/jsonschema/MsgGroupMeta.json b/jsonschema/MsgGroupMeta.json index 69746fee5a..00209cba78 100644 --- a/jsonschema/MsgGroupMeta.json +++ b/jsonschema/MsgGroupMeta.json @@ -16,17 +16,15 @@ "description":"This leading message lists the time metadata of the Solution Group.,\nIt also lists the atomic contents (i.e. types of messages included) of the Solution Group.\n", "type": "object", "properties": { - "wn": {"type": "integer"}, - "tom": {"type": "integer"}, - "ns_residual": {"type": "integer"}, + "group_id": {"type": "integer"}, "flags": {"type": "integer"}, + "n_group_msgs": {"type": "integer"}, "group_msgs": {"type": "array", "items": {"type": "integer"}} }, "required": [ - "wn", - "tom", - "ns_residual", + "group_id", "flags", + "n_group_msgs", "group_msgs" ] } \ No newline at end of file diff --git a/jsonschema/MsgUtcTimeGnss.json b/jsonschema/MsgUtcTimeGnss.json new file mode 100644 index 0000000000..f1731a6ae3 --- /dev/null +++ b/jsonschema/MsgUtcTimeGnss.json @@ -0,0 +1,40 @@ +{ + "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": "#MsgUtcTimeGnss", + "title":"MsgUtcTimeGnss", + "description":"This message reports the Universal Coordinated Time (UTC). Note the flags,\nwhich indicate the source of the UTC offset value and source of the time fix.\n", + "type": "object", + "properties": { + "flags": {"type": "integer"}, + "tow": {"type": "integer"}, + "year": {"type": "integer"}, + "month": {"type": "integer"}, + "day": {"type": "integer"}, + "hours": {"type": "integer"}, + "minutes": {"type": "integer"}, + "seconds": {"type": "integer"}, + "ns": {"type": "integer"} + }, + "required": [ + "flags", + "tow", + "year", + "month", + "day", + "hours", + "minutes", + "seconds", + "ns" + ] +} \ No newline at end of file diff --git a/proto/navigation.proto b/proto/navigation.proto index 57c1b26193..92a846985c 100644 --- a/proto/navigation.proto +++ b/proto/navigation.proto @@ -60,6 +60,29 @@ message MsgGpsTime { uint32 flags = 4; } +/** GPS Time + * + * This message reports the GPS time, representing the time since + * the GPS epoch began on midnight January 6, 1980 UTC. GPS time + * counts the weeks and seconds of the week. The weeks begin at the + * Saturday/Sunday transition. GPS week 0 began at the beginning of + * the GPS time scale. + * + * Within each week number, the GPS time of the week is between + * between 0 and 604800 seconds (=60*60*24*7). Note that GPS time + * does not accumulate leap seconds, and as of now, has a small + * offset from UTC. In a message stream, this message precedes a + * set of other navigation messages referenced to the same time + * (but lacking the ns field) and indicates a more precise time of + * these messages. + */ +message MsgGpsTimeGnss { + uint32 wn = 1; + uint32 tow = 2; + sint32 ns_residual = 3; + uint32 flags = 4; +} + /** UTC Time * * This message reports the Universal Coordinated Time (UTC). Note the flags @@ -77,6 +100,23 @@ message MsgUtcTime { uint32 ns = 9; } +/** UTC Time + * + * This message reports the Universal Coordinated Time (UTC). Note the flags + * which indicate the source of the UTC offset value and source of the time fix. + */ +message MsgUtcTimeGnss { + uint32 flags = 1; + uint32 tow = 2; + uint32 year = 3; + uint32 month = 4; + uint32 day = 5; + uint32 hours = 6; + uint32 minutes = 7; + uint32 seconds = 8; + uint32 ns = 9; +} + /** Dilution of Precision * * This dilution of precision (DOP) message describes the effect of diff --git a/proto/system.proto b/proto/system.proto index c8eb34d51c..f9a225e575 100644 --- a/proto/system.proto +++ b/proto/system.proto @@ -128,10 +128,7 @@ message MsgGnssTimeOffset { */ message MsgGroupMeta { uint32 group_id = 1; - uint32 wn = 2; - uint32 tom = 3; - sint32 ns_residual = 4; - uint32 flags = 5; - uint32 n_group_msgs = 6; - repeated uint32 group_msgs = 7; + uint32 flags = 2; + uint32 n_group_msgs = 3; + repeated uint32 group_msgs = 4; } \ No newline at end of file diff --git a/python/sbp/jit/navigation.py b/python/sbp/jit/navigation.py index 4d20eabfef..4de5dc52c4 100644 --- a/python/sbp/jit/navigation.py +++ b/python/sbp/jit/navigation.py @@ -99,6 +99,60 @@ def _unpack_members(self, buf, offset, length): return res, off, length +SBP_MSG_GPS_TIME_GNSS = 0x0104 +class MsgGPSTimeGnss(SBP): + """SBP class for message MSG_GPS_TIME_GNSS (0x0104). + + You can have MSG_GPS_TIME_GNSS inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + This message reports the GPS time, representing the time since +the GPS epoch began on midnight January 6, 1980 UTC. GPS time +counts the weeks and seconds of the week. The weeks begin at the +Saturday/Sunday transition. GPS week 0 began at the beginning of +the GPS time scale. + +Within each week number, the GPS time of the week is between +between 0 and 604800 seconds (=60*60*24*7). Note that GPS time +does not accumulate leap seconds, and as of now, has a small +offset from UTC. In a message stream, this message precedes a +set of other navigation messages referenced to the same time +(but lacking the ns field) and indicates a more precise time of +these messages. + + + """ + __slots__ = ['wn', + 'tow', + 'ns_residual', + 'flags', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__wn, offset, length) = get_u16(buf, offset, length) + ret['wn'] = __wn + (__tow, offset, length) = get_u32(buf, offset, length) + ret['tow'] = __tow + (__ns_residual, offset, length) = get_s32(buf, offset, length) + ret['ns_residual'] = __ns_residual + (__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.wn = res['wn'] + self.tow = res['tow'] + self.ns_residual = res['ns_residual'] + self.flags = res['flags'] + return res, off, length + + SBP_MSG_UTC_TIME = 0x0103 class MsgUtcTime(SBP): """SBP class for message MSG_UTC_TIME (0x0103). @@ -162,6 +216,69 @@ def _unpack_members(self, buf, offset, length): return res, off, length +SBP_MSG_UTC_TIME_GNSS = 0x0105 +class MsgUtcTimeGnss(SBP): + """SBP class for message MSG_UTC_TIME_GNSS (0x0105). + + You can have MSG_UTC_TIME_GNSS inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + This message reports the Universal Coordinated Time (UTC). Note the flags +which indicate the source of the UTC offset value and source of the time fix. + + + """ + __slots__ = ['flags', + 'tow', + 'year', + 'month', + 'day', + 'hours', + 'minutes', + 'seconds', + 'ns', + ] + @classmethod + def parse_members(cls, buf, offset, length): + ret = {} + (__flags, offset, length) = get_u8(buf, offset, length) + ret['flags'] = __flags + (__tow, offset, length) = get_u32(buf, offset, length) + ret['tow'] = __tow + (__year, offset, length) = get_u16(buf, offset, length) + ret['year'] = __year + (__month, offset, length) = get_u8(buf, offset, length) + ret['month'] = __month + (__day, offset, length) = get_u8(buf, offset, length) + ret['day'] = __day + (__hours, offset, length) = get_u8(buf, offset, length) + ret['hours'] = __hours + (__minutes, offset, length) = get_u8(buf, offset, length) + ret['minutes'] = __minutes + (__seconds, offset, length) = get_u8(buf, offset, length) + ret['seconds'] = __seconds + (__ns, offset, length) = get_u32(buf, offset, length) + ret['ns'] = __ns + 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.flags = res['flags'] + self.tow = res['tow'] + self.year = res['year'] + self.month = res['month'] + self.day = res['day'] + self.hours = res['hours'] + self.minutes = res['minutes'] + self.seconds = res['seconds'] + self.ns = res['ns'] + return res, off, length + + SBP_MSG_DOPS = 0x0208 class MsgDops(SBP): """SBP class for message MSG_DOPS (0x0208). @@ -2151,7 +2268,9 @@ def _unpack_members(self, buf, offset, length): msg_classes = { 0x0102: MsgGPSTime, + 0x0104: MsgGPSTimeGnss, 0x0103: MsgUtcTime, + 0x0105: MsgUtcTimeGnss, 0x0208: MsgDops, 0x0209: MsgPosECEF, 0x0214: MsgPosECEFCov, diff --git a/python/sbp/jit/system.py b/python/sbp/jit/system.py index fb49394953..1f998234ed 100644 --- a/python/sbp/jit/system.py +++ b/python/sbp/jit/system.py @@ -368,9 +368,6 @@ class MsgGroupMeta(SBP): """ __slots__ = ['group_id', - 'wn', - 'tom', - 'ns_residual', 'flags', 'n_group_msgs', 'group_msgs', @@ -380,12 +377,6 @@ def parse_members(cls, buf, offset, length): ret = {} (__group_id, offset, length) = get_u8(buf, offset, length) ret['group_id'] = __group_id - (__wn, offset, length) = get_u16(buf, offset, length) - ret['wn'] = __wn - (__tom, offset, length) = get_u32(buf, offset, length) - ret['tom'] = __tom - (__ns_residual, offset, length) = get_s32(buf, offset, length) - ret['ns_residual'] = __ns_residual (__flags, offset, length) = get_u8(buf, offset, length) ret['flags'] = __flags (__n_group_msgs, offset, length) = get_u8(buf, offset, length) @@ -399,9 +390,6 @@ def _unpack_members(self, buf, offset, length): if off == offset: return {}, offset, length self.group_id = res['group_id'] - self.wn = res['wn'] - self.tom = res['tom'] - self.ns_residual = res['ns_residual'] self.flags = res['flags'] self.n_group_msgs = res['n_group_msgs'] self.group_msgs = res['group_msgs'] diff --git a/python/sbp/navigation.py b/python/sbp/navigation.py index f00adbf2bc..ed110b7f78 100755 --- a/python/sbp/navigation.py +++ b/python/sbp/navigation.py @@ -162,6 +162,125 @@ def to_json_dict(self): d.update(j) return d +SBP_MSG_GPS_TIME_GNSS = 0x0104 +class MsgGPSTimeGnss(SBP): + """SBP class for message MSG_GPS_TIME_GNSS (0x0104). + + You can have MSG_GPS_TIME_GNSS inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + This message reports the GPS time, representing the time since +the GPS epoch began on midnight January 6, 1980 UTC. GPS time +counts the weeks and seconds of the week. The weeks begin at the +Saturday/Sunday transition. GPS week 0 began at the beginning of +the GPS time scale. + +Within each week number, the GPS time of the week is between +between 0 and 604800 seconds (=60*60*24*7). Note that GPS time +does not accumulate leap seconds, and as of now, has a small +offset from UTC. In a message stream, this message precedes a +set of other navigation messages referenced to the same time +(but lacking the ns field) and indicates a more precise time of +these messages. + + + Parameters + ---------- + sbp : SBP + SBP parent object to inherit from. + wn : int + GPS week number + tow : int + GPS time of week rounded to the nearest millisecond + ns_residual : int + Nanosecond residual of millisecond-rounded TOW (ranges +from -500000 to 500000) + + flags : int + Status flags (reserved) + sender : int + Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). + + """ + _parser = construct.Struct( + 'wn' / construct.Int16ul, + 'tow' / construct.Int32ul, + 'ns_residual' / construct.Int32sl, + 'flags' / construct.Int8ul,) + __slots__ = [ + 'wn', + 'tow', + 'ns_residual', + 'flags', + ] + + def __init__(self, sbp=None, **kwargs): + if sbp: + super( MsgGPSTimeGnss, + self).__init__(sbp.msg_type, sbp.sender, sbp.length, + sbp.payload, sbp.crc) + self.from_binary(sbp.payload) + else: + super( MsgGPSTimeGnss, self).__init__() + self.msg_type = SBP_MSG_GPS_TIME_GNSS + self.sender = kwargs.pop('sender', SENDER_ID) + self.wn = kwargs.pop('wn') + self.tow = kwargs.pop('tow') + self.ns_residual = kwargs.pop('ns_residual') + 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 MsgGPSTimeGnss.from_json_dict(d) + + @staticmethod + def from_json_dict(d): + sbp = SBP.from_json_dict(d) + return MsgGPSTimeGnss(sbp, **d) + + + def from_binary(self, d): + """Given a binary payload d, update the appropriate payload fields of + the message. + + """ + p = MsgGPSTimeGnss._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 = MsgGPSTimeGnss._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 = MsgGPSTimeGnss._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( MsgGPSTimeGnss, self).to_json_dict() + j = walk_json_dict(exclude_fields(self)) + d.update(j) + return d + SBP_MSG_UTC_TIME = 0x0103 class MsgUtcTime(SBP): """SBP class for message MSG_UTC_TIME (0x0103). @@ -293,6 +412,137 @@ def to_json_dict(self): d.update(j) return d +SBP_MSG_UTC_TIME_GNSS = 0x0105 +class MsgUtcTimeGnss(SBP): + """SBP class for message MSG_UTC_TIME_GNSS (0x0105). + + You can have MSG_UTC_TIME_GNSS inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + This message reports the Universal Coordinated Time (UTC). Note the flags +which indicate the source of the UTC offset value and source of the time fix. + + + Parameters + ---------- + sbp : SBP + SBP parent object to inherit from. + flags : int + Indicates source and time validity + tow : int + GPS time of week rounded to the nearest millisecond + year : int + Year + month : int + Month (range 1 .. 12) + day : int + days in the month (range 1-31) + hours : int + hours of day (range 0-23) + minutes : int + minutes of hour (range 0-59) + seconds : int + seconds of minute (range 0-60) rounded down + ns : int + nanoseconds of second (range 0-999999999) + sender : int + Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). + + """ + _parser = construct.Struct( + 'flags' / construct.Int8ul, + 'tow' / construct.Int32ul, + 'year' / construct.Int16ul, + 'month' / construct.Int8ul, + 'day' / construct.Int8ul, + 'hours' / construct.Int8ul, + 'minutes' / construct.Int8ul, + 'seconds' / construct.Int8ul, + 'ns' / construct.Int32ul,) + __slots__ = [ + 'flags', + 'tow', + 'year', + 'month', + 'day', + 'hours', + 'minutes', + 'seconds', + 'ns', + ] + + def __init__(self, sbp=None, **kwargs): + if sbp: + super( MsgUtcTimeGnss, + self).__init__(sbp.msg_type, sbp.sender, sbp.length, + sbp.payload, sbp.crc) + self.from_binary(sbp.payload) + else: + super( MsgUtcTimeGnss, self).__init__() + self.msg_type = SBP_MSG_UTC_TIME_GNSS + self.sender = kwargs.pop('sender', SENDER_ID) + self.flags = kwargs.pop('flags') + self.tow = kwargs.pop('tow') + self.year = kwargs.pop('year') + self.month = kwargs.pop('month') + self.day = kwargs.pop('day') + self.hours = kwargs.pop('hours') + self.minutes = kwargs.pop('minutes') + self.seconds = kwargs.pop('seconds') + self.ns = kwargs.pop('ns') + + 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 MsgUtcTimeGnss.from_json_dict(d) + + @staticmethod + def from_json_dict(d): + sbp = SBP.from_json_dict(d) + return MsgUtcTimeGnss(sbp, **d) + + + def from_binary(self, d): + """Given a binary payload d, update the appropriate payload fields of + the message. + + """ + p = MsgUtcTimeGnss._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 = MsgUtcTimeGnss._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 = MsgUtcTimeGnss._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( MsgUtcTimeGnss, self).to_json_dict() + j = walk_json_dict(exclude_fields(self)) + d.update(j) + return d + SBP_MSG_DOPS = 0x0208 class MsgDops(SBP): """SBP class for message MSG_DOPS (0x0208). @@ -4394,7 +4644,9 @@ def to_json_dict(self): msg_classes = { 0x0102: MsgGPSTime, + 0x0104: MsgGPSTimeGnss, 0x0103: MsgUtcTime, + 0x0105: MsgUtcTimeGnss, 0x0208: MsgDops, 0x0209: MsgPosECEF, 0x0214: MsgPosECEFCov, diff --git a/python/sbp/observation.py b/python/sbp/observation.py index cce93bcb13..680f80c17f 100644 --- a/python/sbp/observation.py +++ b/python/sbp/observation.py @@ -2216,8 +2216,16 @@ class MsgEphemerisBds(SBP): Clock reference iode : int Issue of ephemeris data + +Calculated from the navigation data parameter t_oe per RTCM/CSNO recommendation: +IODE = mod (t_oe / 720, 240) + iodc : int Issue of clock data + +Calculated from the navigation data parameter t_oe per RTCM/CSNO recommendation: +IODE = mod (t_oc / 720, 240) + sender : int Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). @@ -2421,9 +2429,9 @@ class MsgEphemerisGalDepA(SBP): toc : GPSTimeSec Clock reference iode : int - Issue of ephemeris data + Issue of data (IODnav) iodc : int - Issue of clock data + Issue of data (IODnav). Always equal to iode sender : int Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). @@ -2629,11 +2637,11 @@ class MsgEphemerisGal(SBP): toc : GPSTimeSec Clock reference iode : int - Issue of ephemeris data + Issue of data (IODnav) iodc : int - Issue of clock data + Issue of data (IODnav). Always equal to iode source : int - 0=I/NAV, 1=F/NAV, ... + 0=I/NAV, 1=F/NAV sender : int Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). @@ -3521,7 +3529,7 @@ class MsgEphemerisGloDepD(SBP): fcn : int Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid iod : int - Issue of ephemeris data + Issue of data. Equal to the 7 bits of the immediate data word t_b sender : int Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). @@ -3655,7 +3663,7 @@ class MsgEphemerisGlo(SBP): fcn : int Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid iod : int - Issue of ephemeris data + Issue of data. Equal to the 7 bits of the immediate data word t_b sender : int Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). diff --git a/python/sbp/system.py b/python/sbp/system.py index 4b65d24a04..0b445c4097 100644 --- a/python/sbp/system.py +++ b/python/sbp/system.py @@ -866,14 +866,6 @@ class MsgGroupMeta(SBP): SBP parent object to inherit from. group_id : int Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss - wn : int - GPS Week Number or zero if Reference epoch is not GPS - tom : int - Time of Measurement in Milliseconds since reference epoch - ns_residual : int - Nanosecond residual of millisecond-rounded TOM (ranges -from -500000 to 500000) - flags : int Status flags (reserved) n_group_msgs : int @@ -887,17 +879,11 @@ class MsgGroupMeta(SBP): """ _parser = construct.Struct( 'group_id' / construct.Int8ul, - 'wn' / construct.Int16ul, - 'tom' / construct.Int32ul, - 'ns_residual' / construct.Int32sl, 'flags' / construct.Int8ul, 'n_group_msgs' / construct.Int8ul, construct.GreedyRange('group_msgs' / construct.Int16ul),) __slots__ = [ 'group_id', - 'wn', - 'tom', - 'ns_residual', 'flags', 'n_group_msgs', 'group_msgs', @@ -914,9 +900,6 @@ def __init__(self, sbp=None, **kwargs): self.msg_type = SBP_MSG_GROUP_META self.sender = kwargs.pop('sender', SENDER_ID) self.group_id = kwargs.pop('group_id') - self.wn = kwargs.pop('wn') - self.tom = kwargs.pop('tom') - self.ns_residual = kwargs.pop('ns_residual') self.flags = kwargs.pop('flags') self.n_group_msgs = kwargs.pop('n_group_msgs') self.group_msgs = kwargs.pop('group_msgs') diff --git a/python/tests/sbp/test_table.py b/python/tests/sbp/test_table.py index 1256bd7390..a867bc5d28 100644 --- a/python/tests/sbp/test_table.py +++ b/python/tests/sbp/test_table.py @@ -45,7 +45,7 @@ def test_table_count(): Test number of available messages to deserialize. """ - number_of_messages = 191 + number_of_messages = 193 assert len(_SBP_TABLE) == number_of_messages def test_table_unqiue_count(): diff --git a/rust/sbp/src/messages/mod.rs b/rust/sbp/src/messages/mod.rs index 01b8be5f4d..d415577243 100644 --- a/rust/sbp/src/messages/mod.rs +++ b/rust/sbp/src/messages/mod.rs @@ -87,6 +87,7 @@ use self::navigation::MsgDops; use self::navigation::MsgDopsDepA; use self::navigation::MsgGPSTime; use self::navigation::MsgGPSTimeDepA; +use self::navigation::MsgGPSTimeGnss; use self::navigation::MsgPosECEF; use self::navigation::MsgPosECEFCov; use self::navigation::MsgPosECEFCovGnss; @@ -99,6 +100,7 @@ use self::navigation::MsgPosLLHDepA; use self::navigation::MsgPosLLHGnss; use self::navigation::MsgProtectionLevel; use self::navigation::MsgUtcTime; +use self::navigation::MsgUtcTimeGnss; use self::navigation::MsgVelBody; use self::navigation::MsgVelECEF; use self::navigation::MsgVelECEFCov; @@ -353,6 +355,8 @@ pub enum SBP { MsgExtEvent(MsgExtEvent), MsgGPSTime(MsgGPSTime), MsgUtcTime(MsgUtcTime), + MsgGPSTimeGnss(MsgGPSTimeGnss), + MsgUtcTimeGnss(MsgUtcTimeGnss), MsgSettingsRegisterResp(MsgSettingsRegisterResp), MsgPosECEFDepA(MsgPosECEFDepA), MsgPosLLHDepA(MsgPosLLHDepA), @@ -1006,6 +1010,16 @@ impl SBP { msg.set_sender_id(sender_id); Ok(SBP::MsgUtcTime(msg)) } + 260 => { + let mut msg = MsgGPSTimeGnss::parse(payload)?; + msg.set_sender_id(sender_id); + Ok(SBP::MsgGPSTimeGnss(msg)) + } + 261 => { + let mut msg = MsgUtcTimeGnss::parse(payload)?; + msg.set_sender_id(sender_id); + Ok(SBP::MsgUtcTimeGnss(msg)) + } 431 => { let mut msg = MsgSettingsRegisterResp::parse(payload)?; msg.set_sender_id(sender_id); @@ -1519,6 +1533,8 @@ impl SBP { SBP::MsgExtEvent(msg) => msg, SBP::MsgGPSTime(msg) => msg, SBP::MsgUtcTime(msg) => msg, + SBP::MsgGPSTimeGnss(msg) => msg, + SBP::MsgUtcTimeGnss(msg) => msg, SBP::MsgSettingsRegisterResp(msg) => msg, SBP::MsgPosECEFDepA(msg) => msg, SBP::MsgPosLLHDepA(msg) => msg, diff --git a/rust/sbp/src/messages/navigation.rs b/rust/sbp/src/messages/navigation.rs index edd7a3377a..ad69317f18 100644 --- a/rust/sbp/src/messages/navigation.rs +++ b/rust/sbp/src/messages/navigation.rs @@ -868,6 +868,88 @@ impl crate::serialize::SbpSerialize for MsgGPSTimeDepA { } } +/// GPS Time +/// +/// This message reports the GPS time, representing the time since +/// the GPS epoch began on midnight January 6, 1980 UTC. GPS time +/// counts the weeks and seconds of the week. The weeks begin at the +/// Saturday/Sunday transition. GPS week 0 began at the beginning of +/// the GPS time scale. +/// +/// Within each week number, the GPS time of the week is between +/// between 0 and 604800 seconds (=60*60*24*7). Note that GPS time +/// does not accumulate leap seconds, and as of now, has a small +/// offset from UTC. In a message stream, this message precedes a +/// set of other navigation messages referenced to the same time +/// (but lacking the ns field) and indicates a more precise time of +/// these messages. +/// +#[cfg_attr(feature = "sbp_serde", derive(Serialize, Deserialize))] +#[derive(Debug, Clone)] +#[allow(non_snake_case)] +pub struct MsgGPSTimeGnss { + pub sender_id: Option, + /// GPS week number + pub wn: u16, + /// GPS time of week rounded to the nearest millisecond + pub tow: u32, + /// Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to + /// 500000) + pub ns_residual: i32, + /// Status flags (reserved) + pub flags: u8, +} + +impl MsgGPSTimeGnss { + #[rustfmt::skip] + pub fn parse(_buf: &mut &[u8]) -> Result { + Ok( MsgGPSTimeGnss{ + sender_id: None, + wn: _buf.read_u16::()?, + tow: _buf.read_u32::()?, + ns_residual: _buf.read_i32::()?, + flags: _buf.read_u8()?, + } ) + } +} +impl super::SBPMessage for MsgGPSTimeGnss { + fn get_message_type(&self) -> u16 { + 260 + } + + 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 MsgGPSTimeGnss { + #[allow(unused_variables)] + fn append_to_sbp_buffer(&self, buf: &mut Vec) { + self.wn.append_to_sbp_buffer(buf); + self.tow.append_to_sbp_buffer(buf); + self.ns_residual.append_to_sbp_buffer(buf); + self.flags.append_to_sbp_buffer(buf); + } + + fn sbp_size(&self) -> usize { + let mut size = 0; + size += self.wn.sbp_size(); + size += self.tow.sbp_size(); + size += self.ns_residual.sbp_size(); + size += self.flags.sbp_size(); + size + } +} + /// Single-point position in ECEF /// /// The position solution message reports absolute Earth Centered @@ -2076,6 +2158,101 @@ impl crate::serialize::SbpSerialize for MsgUtcTime { } } +/// UTC Time +/// +/// This message reports the Universal Coordinated Time (UTC). Note the flags +/// which indicate the source of the UTC offset value and source of the time fix. +/// +#[cfg_attr(feature = "sbp_serde", derive(Serialize, Deserialize))] +#[derive(Debug, Clone)] +#[allow(non_snake_case)] +pub struct MsgUtcTimeGnss { + pub sender_id: Option, + /// Indicates source and time validity + pub flags: u8, + /// GPS time of week rounded to the nearest millisecond + pub tow: u32, + /// Year + pub year: u16, + /// Month (range 1 .. 12) + pub month: u8, + /// days in the month (range 1-31) + pub day: u8, + /// hours of day (range 0-23) + pub hours: u8, + /// minutes of hour (range 0-59) + pub minutes: u8, + /// seconds of minute (range 0-60) rounded down + pub seconds: u8, + /// nanoseconds of second (range 0-999999999) + pub ns: u32, +} + +impl MsgUtcTimeGnss { + #[rustfmt::skip] + pub fn parse(_buf: &mut &[u8]) -> Result { + Ok( MsgUtcTimeGnss{ + sender_id: None, + flags: _buf.read_u8()?, + tow: _buf.read_u32::()?, + year: _buf.read_u16::()?, + month: _buf.read_u8()?, + day: _buf.read_u8()?, + hours: _buf.read_u8()?, + minutes: _buf.read_u8()?, + seconds: _buf.read_u8()?, + ns: _buf.read_u32::()?, + } ) + } +} +impl super::SBPMessage for MsgUtcTimeGnss { + fn get_message_type(&self) -> u16 { + 261 + } + + 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 MsgUtcTimeGnss { + #[allow(unused_variables)] + fn append_to_sbp_buffer(&self, buf: &mut Vec) { + self.flags.append_to_sbp_buffer(buf); + self.tow.append_to_sbp_buffer(buf); + self.year.append_to_sbp_buffer(buf); + self.month.append_to_sbp_buffer(buf); + self.day.append_to_sbp_buffer(buf); + self.hours.append_to_sbp_buffer(buf); + self.minutes.append_to_sbp_buffer(buf); + self.seconds.append_to_sbp_buffer(buf); + self.ns.append_to_sbp_buffer(buf); + } + + fn sbp_size(&self) -> usize { + let mut size = 0; + size += self.flags.sbp_size(); + size += self.tow.sbp_size(); + size += self.year.sbp_size(); + size += self.month.sbp_size(); + size += self.day.sbp_size(); + size += self.hours.sbp_size(); + size += self.minutes.sbp_size(); + size += self.seconds.sbp_size(); + size += self.ns.sbp_size(); + size + } +} + /// Velocity in User Frame /// /// This message reports the velocity in the Vehicle Body Frame. By convention, diff --git a/rust/sbp/src/messages/observation.rs b/rust/sbp/src/messages/observation.rs index 951794860d..fe7c5745f9 100644 --- a/rust/sbp/src/messages/observation.rs +++ b/rust/sbp/src/messages/observation.rs @@ -1232,9 +1232,11 @@ pub struct MsgEphemerisBds { pub af2: f32, /// Clock reference pub toc: GPSTimeSec, - /// Issue of ephemeris data + /// Issue of ephemeris data Calculated from the navigation data parameter + /// t_oe per RTCM/CSNO recommendation: IODE = mod (t_oe / 720, 240) pub iode: u8, - /// Issue of clock data + /// Issue of clock data Calculated from the navigation data parameter t_oe + /// per RTCM/CSNO recommendation: IODE = mod (t_oc / 720, 240) pub iodc: u16, } @@ -2183,11 +2185,11 @@ pub struct MsgEphemerisGal { pub af2: f32, /// Clock reference pub toc: GPSTimeSec, - /// Issue of ephemeris data + /// Issue of data (IODnav) pub iode: u16, - /// Issue of clock data + /// Issue of data (IODnav). Always equal to iode pub iodc: u16, - /// 0=I/NAV, 1=F/NAV, ... + /// 0=I/NAV, 1=F/NAV pub source: u8, } @@ -2362,9 +2364,9 @@ pub struct MsgEphemerisGalDepA { pub af2: f32, /// Clock reference pub toc: GPSTimeSec, - /// Issue of ephemeris data + /// Issue of data (IODnav) pub iode: u16, - /// Issue of clock data + /// Issue of data (IODnav). Always equal to iode pub iodc: u16, } @@ -2507,7 +2509,7 @@ pub struct MsgEphemerisGlo { pub acc: Vec, /// Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid pub fcn: u8, - /// Issue of ephemeris data + /// Issue of data. Equal to the 7 bits of the immediate data word t_b pub iod: u8, } @@ -2861,7 +2863,7 @@ pub struct MsgEphemerisGloDepD { pub acc: Vec, /// Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid pub fcn: u8, - /// Issue of ephemeris data + /// Issue of data. Equal to the 7 bits of the immediate data word t_b pub iod: u8, } diff --git a/rust/sbp/src/messages/system.rs b/rust/sbp/src/messages/system.rs index 71078198a6..82ab544d20 100644 --- a/rust/sbp/src/messages/system.rs +++ b/rust/sbp/src/messages/system.rs @@ -299,16 +299,14 @@ impl crate::serialize::SbpSerialize for MsgGnssTimeOffset { #[allow(non_snake_case)] pub struct MsgGroupMeta { pub sender_id: Option, - /// GPS Week Number or zero if Reference epoch is not GPS - pub wn: u16, - /// Time of Measurement in Milliseconds since reference epoch - pub tom: u32, - /// Nanosecond residual of millisecond-rounded TOM (ranges from -500000 to - /// 500000) - pub ns_residual: i32, + /// Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss + pub group_id: u8, /// Status flags (reserved) pub flags: u8, - /// An inorder list of message types included in the Solution Group + /// Size of list group_msgs + pub n_group_msgs: u8, + /// An inorder list of message types included in the Solution Group, + /// including GROUP_META itself pub group_msgs: Vec, } @@ -317,10 +315,9 @@ impl MsgGroupMeta { pub fn parse(_buf: &mut &[u8]) -> Result { Ok( MsgGroupMeta{ sender_id: None, - wn: _buf.read_u16::()?, - tom: _buf.read_u32::()?, - ns_residual: _buf.read_i32::()?, + group_id: _buf.read_u8()?, flags: _buf.read_u8()?, + n_group_msgs: _buf.read_u8()?, group_msgs: crate::parser::read_u16_array(_buf)?, } ) } @@ -347,19 +344,17 @@ impl super::SBPMessage for MsgGroupMeta { impl crate::serialize::SbpSerialize for MsgGroupMeta { #[allow(unused_variables)] fn append_to_sbp_buffer(&self, buf: &mut Vec) { - self.wn.append_to_sbp_buffer(buf); - self.tom.append_to_sbp_buffer(buf); - self.ns_residual.append_to_sbp_buffer(buf); + self.group_id.append_to_sbp_buffer(buf); self.flags.append_to_sbp_buffer(buf); + self.n_group_msgs.append_to_sbp_buffer(buf); self.group_msgs.append_to_sbp_buffer(buf); } fn sbp_size(&self) -> usize { let mut size = 0; - size += self.wn.sbp_size(); - size += self.tom.sbp_size(); - size += self.ns_residual.sbp_size(); + size += self.group_id.sbp_size(); size += self.flags.sbp_size(); + size += self.n_group_msgs.sbp_size(); size += self.group_msgs.sbp_size(); size } diff --git a/rust/sbp/tests/auto_check_sbp_system_36.rs b/rust/sbp/tests/auto_check_sbp_system_36.rs index af9efd6c74..20d822451e 100644 --- a/rust/sbp/tests/auto_check_sbp_system_36.rs +++ b/rust/sbp/tests/auto_check_sbp_system_36.rs @@ -22,7 +22,7 @@ use common::AlmostEq; fn test_auto_check_sbp_system_36() { { let payload: Vec = vec![ - 85, 10, 255, 238, 238, 15, 192, 7, 64, 226, 1, 0, 0, 0, 0, 0, 3, 10, 2, 2, 255, 156, 76, + 85, 10, 255, 238, 238, 9, 1, 2, 3, 10, 255, 10, 2, 2, 255, 2, 14, ]; // Test the round trip payload parsing @@ -45,34 +45,34 @@ fn test_auto_check_sbp_system_36() { sender_id ); assert_eq!( - msg.flags, 3, - "incorrect value for flags, expected 3, is {}", + msg.flags, 2, + "incorrect value for flags, expected 2, is {}", msg.flags ); assert_eq!( - msg.group_msgs[0], 522, - "incorrect value for group_msgs[0], expected 522, is {}", - msg.group_msgs[0] + msg.group_id, 1, + "incorrect value for group_id, expected 1, is {}", + msg.group_id ); assert_eq!( - msg.group_msgs[1], 65282, - "incorrect value for group_msgs[1], expected 65282, is {}", - msg.group_msgs[1] + msg.group_msgs[0], 65290, + "incorrect value for group_msgs[0], expected 65290, is {}", + msg.group_msgs[0] ); assert_eq!( - msg.ns_residual, 0, - "incorrect value for ns_residual, expected 0, is {}", - msg.ns_residual + msg.group_msgs[1], 522, + "incorrect value for group_msgs[1], expected 522, is {}", + msg.group_msgs[1] ); assert_eq!( - msg.tom, 123456, - "incorrect value for tom, expected 123456, is {}", - msg.tom + msg.group_msgs[2], 65282, + "incorrect value for group_msgs[2], expected 65282, is {}", + msg.group_msgs[2] ); assert_eq!( - msg.wn, 1984, - "incorrect value for wn, expected 1984, is {}", - msg.wn + msg.n_group_msgs, 3, + "incorrect value for n_group_msgs, expected 3, is {}", + msg.n_group_msgs ); } _ => panic!("Invalid message type! Expected a MsgGroupMeta"), diff --git a/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml b/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml index 6abe4a235e..50c1fd9c0d 100644 --- a/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml +++ b/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml @@ -7,25 +7,23 @@ tests: - msg: fields: group_id: 1 - wn: 1984 - tom: 123456 - ns_residual: 0 - flags: 0b00000011 + flags: 0b00000010 # gnss+ins (fuzed) n_group_msgs: 3 # includes group_meta itself group_msgs: [65290, 522, 65282] # group_meta, pos_lla & msg_ins_updates module: sbp.system name: MsgGroupMeta msg_type: '0xFF0A' - raw_json: '{"crc": 36349, "flags": 3, "group_id": 1, "wn": 1984, "sender": 61166, "msg_type": 65290, -"tom": 123456, "ns_residual": 0, "length": 19, "n_group_msgs": 3 ,"group_msgs": [65290, 522, 65282], "preamble": 85, "payload": -"AcAHQOIBAAAAAAADAwr/CgIC/w=="}' + raw_json: '{"crc": 3586, "flags": 2, "group_id": 1, "sender": 61166, "msg_type": 65290, "length": 9, + "n_group_msgs": 3 ,"group_msgs": [65290, 522, 65282], "preamble": 85, "payload": + "AQIDCv8KAgL/"}' + # base64 - raw_packet: VQr/7u4TAcAHQOIBAAAAAAADAwr/CgIC//2N + raw_packet: VQr/7u4JAQIDCv8KAgL/Ag4= sbp: - crc: '0x8dfd' - length: 19 + crc: '0xe02' + length: 9 msg_type: '0xFF0A' - payload: AcAHQOIBAAAAAAADAwr/CgIC/w== + payload: AQIDCv8KAgL/ preamble: '0x55' sender: '0xEEEE' version: 3.1 diff --git a/spec/yaml/swiftnav/sbp/navigation.yaml b/spec/yaml/swiftnav/sbp/navigation.yaml index 9864f762a0..fc9d5f1e2a 100644 --- a/spec/yaml/swiftnav/sbp/navigation.yaml +++ b/spec/yaml/swiftnav/sbp/navigation.yaml @@ -80,6 +80,51 @@ definitions: - 1: GNSS Solution - 2: Propagated + - MSG_GPS_TIME_GNSS: + id: 0x0104 + short_desc: GPS Time + desc: | + This message reports the GPS time, representing the time since + the GPS epoch began on midnight January 6, 1980 UTC. GPS time + counts the weeks and seconds of the week. The weeks begin at the + Saturday/Sunday transition. GPS week 0 began at the beginning of + the GPS time scale. + + Within each week number, the GPS time of the week is between + between 0 and 604800 seconds (=60*60*24*7). Note that GPS time + does not accumulate leap seconds, and as of now, has a small + offset from UTC. In a message stream, this message precedes a + set of other navigation messages referenced to the same time + (but lacking the ns field) and indicates a more precise time of + these messages. + fields: + - wn: + type: u16 + units: weeks + desc: GPS week number + - tow: + type: u32 + units: ms + desc: GPS time of week rounded to the nearest millisecond + - ns_residual: + type: s32 + units: ns + desc: | + Nanosecond residual of millisecond-rounded TOW (ranges + from -500000 to 500000) + - flags: + type: u8 + desc: Status flags (reserved) + fields: + - 3-7: + desc: Reserved + - 0-2: + desc: Time source + values: + - 0: None (invalid) + - 1: GNSS Solution + - 2: Propagated + - MSG_UTC_TIME: id: 0x0103 short_desc: UTC Time @@ -139,6 +184,65 @@ definitions: desc: nanoseconds of second (range 0-999999999) + - MSG_UTC_TIME_GNSS: + id: 0x0105 + short_desc: UTC Time + desc: | + This message reports the Universal Coordinated Time (UTC). Note the flags + which indicate the source of the UTC offset value and source of the time fix. + fields: + - flags: + type: u8 + desc: Indicates source and time validity + fields: + - 5-7: + desc: Reserved + - 3-4: + desc: UTC offset source + values: + - 0: Factory Default + - 1: Non Volatile Memory + - 2: Decoded this Session + - 0-2: + desc: Time source + values: + - 0: None (invalid) + - 1: GNSS Solution + - 2: Propagated + - tow: + type: u32 + units: ms + desc: GPS time of week rounded to the nearest millisecond + - year: + type: u16 + units: year + desc: Year + - month: + type: u8 + units: months + desc: Month (range 1 .. 12) + - day: + type: u8 + units: day + desc: days in the month (range 1-31) + - hours: + type: u8 + units: hours + desc: hours of day (range 0-23) + - minutes: + type: u8 + units: minutes + desc: minutes of hour (range 0-59) + - seconds: + type: u8 + units: seconds + desc: seconds of minute (range 0-60) rounded down + - ns: + type: u32 + units: nanoseconds + desc: nanoseconds of second + (range 0-999999999) + - MSG_DOPS: id: 0x0208 short_desc: Dilution of Precision diff --git a/spec/yaml/swiftnav/sbp/system.yaml b/spec/yaml/swiftnav/sbp/system.yaml index 0b7b759dec..55b558e661 100644 --- a/spec/yaml/swiftnav/sbp/system.yaml +++ b/spec/yaml/swiftnav/sbp/system.yaml @@ -319,47 +319,19 @@ definitions: - group_id: type: u8 desc: Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss - - wn: - type: u16 - units: weeks - desc: GPS Week Number or zero if Reference epoch is not GPS - - tom: - type: u32 - units: ms - desc: Time of Measurement in Milliseconds since reference epoch - - ns_residual: - type: s32 - units: ns - desc: | - Nanosecond residual of millisecond-rounded TOM (ranges - from -500000 to 500000) - flags: type: u8 desc: Status flags (reserved) fields: - - 6-7: + - 2-7: desc: Reserved - - 4-5: - desc: Time quality - values: - - 0: Unknown, CPU local, or Invalid - - 1: Coarse (order of 1ms) - - 2: Propagated - - 3: Finer or Finest - - 2-3: + - 0-1: desc: Solution Group type values: - 0: None (invalid) - 1: GNSS only - 2: GNSS+INS (Fuzed) - 3: Reserved - - 0-1: - desc: Time reference - values: - - 0: Reference epoch is start of current GPS week - - 1: Reference epoch is Sensor Time Init - - 2: Reference epoch is unknown - - 3: Reference epoch is last PPS - n_group_msgs: type: u8 desc: Size of list group_msgs From 893a18ad614ddc079cf1c42e32064c4024a37ccf Mon Sep 17 00:00:00 2001 From: Christian Reimer Date: Wed, 26 Aug 2020 12:31:04 +0200 Subject: [PATCH 4/7] Update test spec --- .../sbp/system/test_MsgGroupMeta.yaml | 20 +++++++++---------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml b/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml index df89693b8a..50c1fd9c0d 100644 --- a/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml +++ b/spec/tests/yaml/swiftnav/sbp/system/test_MsgGroupMeta.yaml @@ -7,25 +7,23 @@ tests: - msg: fields: group_id: 1 - wn: 1984 - tom: 123456 - ns_residual: 0 - flags: 0b00000011 + flags: 0b00000010 # gnss+ins (fuzed) n_group_msgs: 3 # includes group_meta itself group_msgs: [65290, 522, 65282] # group_meta, pos_lla & msg_ins_updates module: sbp.system name: MsgGroupMeta msg_type: '0xFF0A' - raw_json: '{"crc": 36349, "flags": 3, "group_id": 1, "wn": 1984, "sender": 61166, "msg_type": 65290, - "tom": 123456, "ns_residual": 0, "length": 19, "n_group_msgs": 3 ,"group_msgs": [65290, 522, 65282], "preamble": 85, "payload": - "AcAHQOIBAAAAAAADAwr/CgIC/w=="}' + raw_json: '{"crc": 3586, "flags": 2, "group_id": 1, "sender": 61166, "msg_type": 65290, "length": 9, + "n_group_msgs": 3 ,"group_msgs": [65290, 522, 65282], "preamble": 85, "payload": + "AQIDCv8KAgL/"}' + # base64 - raw_packet: VQr/7u4TAcAHQOIBAAAAAAADAwr/CgIC//2N + raw_packet: VQr/7u4JAQIDCv8KAgL/Ag4= sbp: - crc: '0x8dfd' - length: 19 + crc: '0xe02' + length: 9 msg_type: '0xFF0A' - payload: AcAHQOIBAAAAAAADAwr/CgIC/w== + payload: AQIDCv8KAgL/ preamble: '0x55' sender: '0xEEEE' version: 3.1 From bfbb3404f12fc3e159defad549144c342f43c618 Mon Sep 17 00:00:00 2001 From: Christian Reimer Date: Wed, 26 Aug 2020 12:45:17 +0200 Subject: [PATCH 5/7] Update build artifacts --- c/include/libsbp/system.h | 8 +----- c/test/auto_check_sbp_system_36.c | 7 ++---- docs/sbp.pdf | Bin 469445 -> 471113 bytes haskell/src/SwiftNav/SBP/System.hs | 13 ---------- .../com/swiftnav/sbp/system/MsgGroupMeta.java | 23 +----------------- javascript/sbp.bundle.js | 4 +-- javascript/sbp/system.js | 9 ------- jsonschema/MsgGroupMeta.json | 6 ----- proto/system.proto | 9 +++---- python/sbp/jit/system.py | 12 --------- python/sbp/system.py | 18 -------------- rust/sbp/src/messages/system.rs | 16 ------------ rust/sbp/tests/auto_check_sbp_system_36.rs | 22 +++-------------- 13 files changed, 12 insertions(+), 135 deletions(-) diff --git a/c/include/libsbp/system.h b/c/include/libsbp/system.h index 88cd134403..c954ef6cef 100644 --- a/c/include/libsbp/system.h +++ b/c/include/libsbp/system.h @@ -154,16 +154,10 @@ typedef struct SBP_ATTR_PACKED { #define SBP_MSG_GROUP_META 0xFF0A typedef struct SBP_ATTR_PACKED { u8 group_id; /**< Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss */ - u16 wn; /**< GPS Week Number or zero if Reference epoch is not GPS [weeks] */ - u32 tom; /**< Time of Measurement in Milliseconds since reference epoch [ms] */ - s32 ns_residual; /**< Nanosecond residual of millisecond-rounded TOM (ranges -from -500000 to 500000) - [ns] */ u8 flags; /**< Status flags (reserved) */ u8 n_group_msgs; /**< Size of list group_msgs */ u16 group_msgs[0]; /**< An inorder list of message types included in the Solution Group, -including GROUP_META itself - */ +including GROUP_META itself */ } msg_group_meta_t; diff --git a/c/test/auto_check_sbp_system_36.c b/c/test/auto_check_sbp_system_36.c index 9dbba3a807..208f379e96 100644 --- a/c/test/auto_check_sbp_system_36.c +++ b/c/test/auto_check_sbp_system_36.c @@ -99,7 +99,7 @@ START_TEST( test_auto_check_sbp_system_36 ) sbp_register_callback(&sbp_state, 0xFF0A, &logging_callback, &DUMMY_MEMORY_FOR_CALLBACKS, &n); - u8 test_data[] = {85,10,255,238,238,19,1,192,7,64,226,1,0,0,0,0,0,3,3,10,255,10,2,2,255,253,141, }; + u8 test_data[] = {85,10,255,238,238,9,1,2,3,10,255,10,2,2,255,2,14, }; dummy_reset(); sbp_send_message(&sbp_state, 0xFF0A, 61166, sizeof(test_data), test_data, &dummy_write); @@ -125,15 +125,12 @@ START_TEST( test_auto_check_sbp_system_36 ) msg_group_meta_t* msg = ( msg_group_meta_t *)((void *)last_msg + 6); // Run tests against fields fail_unless(msg != 0, "stub to prevent warnings if msg isn't used"); - fail_unless(msg->flags == 3, "incorrect value for flags, expected 3, is %d", msg->flags); + fail_unless(msg->flags == 2, "incorrect value for flags, expected 2, is %d", msg->flags); fail_unless(msg->group_id == 1, "incorrect value for group_id, expected 1, is %d", msg->group_id); fail_unless(msg->group_msgs[0] == 65290, "incorrect value for group_msgs[0], expected 65290, is %d", msg->group_msgs[0]); fail_unless(msg->group_msgs[1] == 522, "incorrect value for group_msgs[1], expected 522, is %d", msg->group_msgs[1]); fail_unless(msg->group_msgs[2] == 65282, "incorrect value for group_msgs[2], expected 65282, is %d", msg->group_msgs[2]); fail_unless(msg->n_group_msgs == 3, "incorrect value for n_group_msgs, expected 3, is %d", msg->n_group_msgs); - fail_unless(msg->ns_residual == 0, "incorrect value for ns_residual, expected 0, is %d", msg->ns_residual); - fail_unless(msg->tom == 123456, "incorrect value for tom, expected 123456, is %d", msg->tom); - fail_unless(msg->wn == 1984, "incorrect value for wn, expected 1984, is %d", msg->wn); } } END_TEST diff --git a/docs/sbp.pdf b/docs/sbp.pdf index dd2df94e0a804a1df12b03722591b54be8a0bfd5..cfffc105879f3e422f81fc53135639f569361ee1 100644 GIT binary patch delta 164139 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